Abstract

The use of robots as human replacement for gas inspection and searching has significant benefit to reduce number human involved in accident. Gas detection method has difficulty since it is easy to be conveyed by airflow. Therefore, several robots are utilized by performing a defined formation and working together, thus they will reduce missed orientation to gas leak source. This paper discusses how single robot behave in behavior-based formation control. Robot equipped with Light Detection and Ranging (LiDAR) locates other robot, so they can maintain its formation. Moreover, gas sensor is attached as stereo nose to locate gas leak source. Fuzzy logic is deployed to approach how robot navigate itself in the formation. As a result, various direction and velocity occurs to perform a formation and move to gas leak source. Experimental results show that the robot can reach gas leak source in 36 to 132 seconds and keep the distance among the robots around 36.3 to 83.7 centimeters in the formation.

Original languageEnglish
Title of host publicationProceedings - 2020 International Seminar on Intelligent Technology and Its Application
Subtitle of host publicationHumanification of Reliable Intelligent Systems, ISITIA 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages89-94
Number of pages6
ISBN (Electronic)9781728174136
DOIs
Publication statusPublished - Jul 2020
Event2020 International Seminar on Intelligent Technology and Its Application, ISITIA 2020 - Virtual, Online, Indonesia
Duration: 22 Jul 202023 Jul 2020

Publication series

NameProceedings - 2020 International Seminar on Intelligent Technology and Its Application: Humanification of Reliable Intelligent Systems, ISITIA 2020

Conference

Conference2020 International Seminar on Intelligent Technology and Its Application, ISITIA 2020
Country/TerritoryIndonesia
CityVirtual, Online
Period22/07/2023/07/20

Keywords

  • Behavior-based formation control
  • Fuzzy logic
  • LiDAR
  • mobile robot
  • stereo nose

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