Demetriou, Michael A.
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 robots 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.
Worcester Polytechnic Institute
Major Qualifying Project
All authors have granted to WPI a nonexclusive royalty-free license to distribute copies of the work, subject to other agreements. Copyright is held by the author or authors, with all rights reserved, unless otherwise noted.