Multi-mobile Robot and Avoidance Obstacle to Spatial Mapping in Indoor Environment

Luis Piardi, Luis Piardi, José Lima, José Lima, André Schneider de Oliveira

2021

Abstract

The advancement of technology and techniques applied to robotics contributes to increasing the quality of life and safety of humanity. One of the most widespread applications of mobile robotics is related to monitoring indoor environments. However, due to factors such as the size of the environment impacting the monitoring response, battery autonomy, and autonomous navigation in environments with unknown obstacles, they are still significant challenges in the diffusion of mobile robotics in these areas. Strategy adopting multiple robots can overcome these challenges. This work presents an approach to use multi-robots in hazardous environments with gas leakage to perform spatial mapping of the gas concentration. Obstacles arranged in the environment are unknown to robots, then a fuzzy control approach is used to avoid the collision. As a result of this paper, spatial mapping of an indoor environment was carried out with multi-robots that reactively react to unknown obstacles considering a point gas leak with Gaussian dispersion.

Paper Citation

in Harvard Style

Piardi L., Lima J. and Schneider de Oliveira A. (2021). Multi-mobile Robot and Avoidance Obstacle to Spatial Mapping in Indoor Environment. In Proceedings of the 11th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH, ISBN 978-989-758-528-9, pages 21-29. DOI: 10.5220/0010509200210029

in Bibtex Style

@conference{simultech21,
author={Luis Piardi and José Lima and André Schneider de Oliveira},
title={Multi-mobile Robot and Avoidance Obstacle to Spatial Mapping in Indoor Environment},
booktitle={Proceedings of the 11th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,},
year={2021},
pages={21-29},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010509200210029},
isbn={978-989-758-528-9},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 11th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,
TI - Multi-mobile Robot and Avoidance Obstacle to Spatial Mapping in Indoor Environment
SN - 978-989-758-528-9
AU - Piardi L.
AU - Lima J.
AU - Schneider de Oliveira A.
PY - 2021
SP - 21
EP - 29
DO - 10.5220/0010509200210029