Faculty Advisor

Demetriou, Michael A.

Abstract

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.

Publisher

Worcester Polytechnic Institute

Date Accepted

March 2018

Major

Aerospace Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Mechanical Engineering

Share

COinS