Online Gas Mapping in Outdoor Environment using Solar-Powered Mobile Robot

摘要

Mapping of dangerous and flammable gas levels in outdoor environments, such as the oil pipeline and the industrial areas, is needed to monitor gas leaks. The use of sensor networks will require a large number of the sensors for a wide area. The mobile robot can be used as a sensor node that moves to map the desired area. In this study, we have developed a gas level mapping system for outdoor environment using solar-powered mobile robot. The proportional-integral-derivative control method is used by the robot to maneuver and follow the direction setpoint of provided Global Position System waypoints. The experimental results show that the use of solar panel can increase the duration of mobile robot operation. The results of gas concentration mapping by the mobile robot can be displayed online at the website integrated with Google Maps in both personal computer and smartphone.