Authors:
Sara Ashry Mohammed
1
and
Walid Gomaa
2
Affiliations:
1
Egypt-Japan University of Science and Technology (E-JUST) and Electronic Research Institute (ERI), Egypt
;
2
Egypt-Japan University of Science and Technology (E-JUST) and Alexandria University, Egypt
Keyword(s):
Mobile Robots, Explore Unknown Map, Gas Detection, V-REP, Khepera III, Albers Algorithm.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
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% depend
ing on the size of the map and number of obstacles.
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