Enhancement of Navigation Systems of Mobile Robots in Gas Leakage Searching

摘要

Gas leakage commonly happens in daily life. The leakage can cause many losses and even cause the death. Implementing human and animals in monitoring, checking, and finding the source of leakage can harm their life. The usage of the robot can give many advantages, i.e., it can be programmed easily, it does not feel tired, it does not need much time to be trained, etc. However, to control the robot in navigating to the leakage source is not so Haeasy. In this research, an enhancement of navigation system using two parameters inputs, i.e., distance and concentration of the gas is proposed. A distance fuzzy algorithm and gas fuzzy algorithm is implemented to the robot. The robot can use each parameter depends on the environment and situation that it meets. Both of the algorithms were successful in guiding the robot to move in the correct path. The robot could avoid the obstacles and find the location of the gas leakage.