The goal of this project was to design an experiment to detect a plume of carbon dioxide in a controlled environment using a gas-sensing mobile robot. Research was conducted in the areas of differential-drive robotics, navigation, estimation, and structural analysis. The Khepera IV robot was equipped with four gas concentration sensors and a wind velocity sensor for plume detection and robot guidance. An experimental mount was designed and built to hold the concentration and wind sensors with specifications given from plume estimation simulations. A navigation program was developed using an Extended Kalman Filter to estimate the state of the robot during the plume detection experiment. Testing was conducted on each subsystem to confirm that the experiment was feasible for plume detection.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Colfer, John William
• Christie, Nicholas Christopher

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-032416-225033

Advisor

• Demetriou, Michael A.

Year

• 2016

Date created

• 2016-03-24

Resource type

• Major Qualifying Project

Major

• Aerospace Engineering

Rights statement

• In Copyright