Exploration of Unknown Map for Gas Searching and Picking Up Objects using Khepera Mobile Robots

Sara Ashry Mohammed, Walid Gomaa

2016

Abstract

In this paper, the integrated approach for searching, detecting the source of gas leakage and capturing object using Khepera III mobile robot is introduced. It was tested in natural grid environments as shown in experiments but it is usable in vast areas; e.g. houses and labs to pick up gas victims. Experiments are performed using a master Khepera robot equipped with a gas sensor and two slave robots equipped with grippers to take the best path to pick up the object. Moreover, this paper proposes an improvement of Albers exploration algorithm to reduce the time required to explore an unknown map with different polygon obstacles. The proposed approach aims at minimizing the overall exploration time, making it possible to localize gas source in an effi- cient way, as demonstrated in V-REP simulation as well as real world experiments. A comparison among both algorithms has shown the effectiveness of the proposed one, where the percentage of performance speedup is about 30% to 57% depending on the size of the map and number of obstacles.

Paper Citation

in Harvard Style

Mohammed S. and Gomaa W. (2016). Exploration of Unknown Map for Gas Searching and Picking Up Objects using Khepera Mobile Robots . In Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-198-4, pages 294-302. DOI: 10.5220/0005978402940302

in Bibtex Style

@conference{icinco16,
author={Sara Ashry Mohammed and Walid Gomaa},
title={Exploration of Unknown Map for Gas Searching and Picking Up Objects using Khepera Mobile Robots},
booktitle={Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2016},
pages={294-302},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005978402940302},
isbn={978-989-758-198-4},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Exploration of Unknown Map for Gas Searching and Picking Up Objects using Khepera Mobile Robots
SN - 978-989-758-198-4
AU - Mohammed S.
AU - Gomaa W.
PY - 2016
SP - 294
EP - 302
DO - 10.5220/0005978402940302