Achim J. Lilienthal, Holger Ulmer, Holger Fröhlich, Felix Werner and Andreas Zell
Learning to Detect Proximity to a Gas Source with a Mobile Robot
Abstract:
As a sub-task of the general gas source localisation problem,
gas source declaration is the process of determining the certainty
that a source is in the immediate vicinity.
Due to the turbulent character of gas transport in a natural indoor environment,
it is not sufficient to search for instantaneous concentration maxima,
in order to solve this task.
Therefore,
this paper introduces a method to classify whether an object is a gas source from a series of concentration measurements,
recorded while the robot performs a rotation manoeuvre in front of a possible source.
For three different gas source positions,
a total of 1056 declaration experiments were carried out at different robot-to-source distances.
Based on these readings,
support vector machines (SVM) with optimised learning parameters were trained and
the cross-validation classification performance was evaluated.
The results demonstrate the feasibility of the approach to detect proximity to a gas source using only gas sensors.
The paper presents also an analysis of the classification rate depending on the desired declaration accuracy,
and a comparison with the classification rate that can be achieved by selecting an optimal threshold value regarding the mean sensor signal.
@INPROCEEDINGS{Lilienthal_etal:IROS:2004,
AUTHOR = {Lilienthal, Achim~J. and Ulmer, Holger and Fr{\"o}hlich, Holger and Werner, Felix and Zell, Andreas},
TITLE = {Learning to Detect Proximity to a Gas Source with a Mobile Robot},
BOOKTITLE = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
YEAR = {2004},
MONTH = {September 28 -- October 2},
ADRESS = {Sendai, Japan},
PAGES = {1444--1449}
}