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Gas source localization via behaviour based robot and weighted arithmetic mean

Master of Science in Computer Engineering

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Bibliographic Details
Main Author: Ahmad Shakaff, Ali Yeon
Other Authors: Latifah Munirah, Kamarudin, Dr.
Format: Thesis
Language:English
Published: Universiti Malaysia Perlis (UniMAP) 2016
Subjects:
Mobile robots
Artificial intelligence > Computer programs
Robotics
Large gas sensor array (LGSA)
Online Access:http://dspace.unimap.edu.my:80/xmlui/handle/123456789/78216
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spelling my.unimap-782162023-03-23T07:41:04Z Gas source localization via behaviour based robot and weighted arithmetic mean Ahmad Shakaff, Ali Yeon Latifah Munirah, Kamarudin, Dr. Mobile robots Artificial intelligence -- Computer programs Robotics Large gas sensor array (LGSA) Master of Science in Computer Engineering This research is concerned with the localization of gas source in a dynamic indoor environment problem using a single mobile robot system. Since the environment is unknown to the robot, an intelligent algorithm is required to enable the robot to traverse through the environment without any interruption from obstacles. All experiments were done on an experimental testbed consisting of a large gas sensor array (LGSA) to monitor real-time gas concentration within the testbed. The measurements from the LGSA were taken as the ground truth and were useful as it can be compared to the measurements taken from the gas sensors on the mobile robot. A pattern tracking system was also utilized to record the robot's odometry. Initially, two preliminary experiments were conducted to better understand the conditions within the experimental testbed and the gas sensor's performance within the environment when the robot is moving at different speeds. From the preliminary experiments, we can confirm that the conditions within the testbed are indeed dynamic and gas sensor's performance differs when the mobile robot is moving at different speeds. We then proceed to implement two algorithms (i.e Zig-Zag and Braitenberg) to test the robot's performance in traversing through the experimental testbed while taking gas sensor measurements. The Braitenberg algorithm was separated into two variants (i.e Repel and Attract) which then were implemented with the mobile robot. 2016 2023-03-23T07:40:14Z 2023-03-23T07:40:14Z Thesis http://dspace.unimap.edu.my:80/xmlui/handle/123456789/78216 en Universiti Malaysia Perlis (UniMAP) Universiti Malaysia Perlis (UniMAP) School of Computer and Communication Engineering
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Mobile robots
Artificial intelligence -- Computer programs
Robotics
Large gas sensor array (LGSA)
spellingShingle Mobile robots
Artificial intelligence -- Computer programs
Robotics
Large gas sensor array (LGSA)
Ahmad Shakaff, Ali Yeon
Gas source localization via behaviour based robot and weighted arithmetic mean
description Master of Science in Computer Engineering
author2 Latifah Munirah, Kamarudin, Dr.
author_facet Latifah Munirah, Kamarudin, Dr.
Ahmad Shakaff, Ali Yeon
format Thesis
author Ahmad Shakaff, Ali Yeon
author_sort Ahmad Shakaff, Ali Yeon
title Gas source localization via behaviour based robot and weighted arithmetic mean
title_short Gas source localization via behaviour based robot and weighted arithmetic mean
title_full Gas source localization via behaviour based robot and weighted arithmetic mean
title_fullStr Gas source localization via behaviour based robot and weighted arithmetic mean
title_full_unstemmed Gas source localization via behaviour based robot and weighted arithmetic mean
title_sort gas source localization via behaviour based robot and weighted arithmetic mean
publisher Universiti Malaysia Perlis (UniMAP)
publishDate 2016
url http://dspace.unimap.edu.my:80/xmlui/handle/123456789/78216
_version_ 1772813069577093120
score 13.222552

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