Corridor Gas-leak localization using a mobile robot with a Photo Ionization Detector Sensor

The use of an autonomous mobile robot to locate gas-leaks and air quality monitoring in indoor environments are promising tasks that will avoid risky human operations. However, these are challenging tasks due to the chaotic gas profile propagation originated by uncontrolled air flows. This paper proposes the localization of an acetone gas-leak in a 44 m-length indoor corridor with a mobile robot equipped with a PID sensor. This paper assesses the influence of the mobile robot velocity and the relative height of the PID sensor in the profile of the measurements. The results show weak influence of the robot velocity and strong influence of the relative height of the PID sensor. An estimate of the gas-leak location is also performed by computing the center of mass of the highest gas concentrations.