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

Sara Ashry Mohammed, Walid Gomaa

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.

References

  1. Albers, S., Kursawe, K., and Schuierer, S. (2002). Exploring unknown environments with obstacles. Algorithmica, 32(1):123-143.
  2. Amigoni, F. (2008). Experimental evaluation of some exploration strategies for mobile robots. In Robotics and Automation. ICRA, IEEE International Conference on, pages 2818-2823. IEEE.
  3. Bender, M. A., Fernández, A., Ron, D., Sahai, A., and Vadhan, S. (2002). The power of a pebble: Exploring and mapping directed graphs. Information and Computation, 176(1):1-21.
  4. Betke, M., Rivest, R. L., and Singh, M. (1995). Piecemeal learning of an unknown environment. Machine Learning, 18(2-3):231-254.
  5. Chakkath, M. S., Hariharansiddharath, S., and Hemalatha, B. (2012). Mobile robot in coal mine disaster surveillance. Transportation, 261:230.
  6. Deng, X., Kameda, T., and Papadimitriou, C. (1998). How to learn an unknown environment. i: the rectilinear case. Journal of the ACM (JACM), 45(2):215-245.
  7. Doriya, R., Mishra, S., and Gupta, S. (2015). A brief survey and analysis of multi-robot communication and coordination. In Computing, Communication & Automation (ICCCA), 2015 International Conference on, pages 1014-1021.
  8. E.W.Dijkstra (1959). A note on two problems in connexion with graphs. Numerische mathematik, 1(1):269-271.
  9. Fekete, S. P. and Schmidt, C. (2010). Polygon exploration with time-discrete vision. Computational Geometry, 43(2):148-168.
  10. Ghosh, S. K. and Klein, R. (2010). Online algorithms for searching and exploration in the plane. Computer Science Review, 4(4):189-201.
  11. Hammar, M., Nilsson, B. J., and Persson, M. (2006). Competitive exploration of rectilinear polygons. Theoretical computer science, 354(3):367-378.
  12. Herrmann, D., Kamphans, T., and Langetepe, E. (2010). Exploring simple triangular and hexagonal grid polygons online.
  13. Higashikawa, Y. and Katoh, N. (2013). Online vertex exploration problems in a simple polygon. IEICE TRANSACTIONS on Information and Systems, 96(3):489- 497.
  14. Hoffmann, F., Icking, C., Klein, R., and Kriegel, K. (2001). The polygon exploration problem. SIAM Journal on Computing, 31(2):577-600.
  15. Icking, C., Kamphans, T., Klein, R., and Langetepe, E. (2010). Exploring grid polygons online. arXiv preprint arXiv:1012.5240.
  16. I S¸ILAK, A. H. (2010). Smart home applications for disabled people by using wireless sensor network. Engineering Project Report.
  17. Kim, J.-H., Starr, J. W., and Lattimer, B. Y. (2015). Firefighting robot stereo infrared vision and radar sensor fusion for imaging through smoke. Fire Technology, 51(4):823-845.
  18. Lambercy, F. and Bureau, P. (2007). Khepera iii user manual. User manual, K-Team.
  19. Le Comte, B. R., Gupta, G. S., and Chew, M. T. (2012). Distributed sensors for hazard detection in an urban search and rescue operation. In Instrumentation and Measurement Technology Conference (I2MTC), 2012 IEEE International, pages 2385-2390. IEEE.
  20. Marjovi, A. and Marques, L. (2011). Multi-robot olfactory search in structured environments. Robotics and Autonomous Systems, 59(11):867-881.
  21. Qi, Q., Cheng, L., Wu, H., Liu, N., Huang, J., and Wang, Y. (2015). Mobile olfaction robot odor source localization based on wireless sensor network. In Chinese Automation Congress (CAC), 2015, pages 366-370.
  22. Ransing, R. S. and Rajput, M. (2015). Smart home for elderly care, based on wireless sensor network. In Nascent Technologies in the Engineering Field (ICNTE), 2015 International Conference on, pages 1-5.
  23. Rivest, R. L., Singh, M., and Betke, M. (2015). Piecemeal learning of an unknown environment.
  24. Rohmer, E., Singh, S. P., and Freese, M. (2013). V-rep: A versatile and scalable robot simulation framework. pages 1321-1326.
  25. XScale, I. (2002). Core developer's manual. 2007-10-10]. http://developer. intel. com/design/intelxscale.
Download


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