This work involves the design and implementation of a gas-sensing mobile robot as an experimental tool to localize a carbon dioxide source. The autonomous robot achieves navigation through an embedded microcontroller using a strap-down accelerometer and a fusion of four CO2 sensors. A mass flow controller and diffuser are used to dependably generate a plume that simulates a point source. A base station receives sensor data and calculates the robot’s position using the accelerometer data filtered using a low pass filter followed an Extended Kalman Filter. This method has applicability for unmanned vehicles tracking emissions of contaminants and their effects in the environment.

• 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

• Kontopyrgos, Marios
• McGrath, Owen Michael
• Halama, Sylvester
• Preston, Benjamin P
• Kasapis, Spiridon

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-032018-145855

Advisor

• Demetriou, Michael A.

Year

• 2018

Date created

• 2018-03-20

Resource type

• Major Qualifying Project

Major

• Aerospace Engineering

Rights statement

• In Copyright