Gas Density Sensors Integration on Heterogeneous Mobile Robots

Gas measurement to describe a gas dispersion throughout the indoor environment was developed using two heterogeneous mobile sensors. They were applied to two different heights of measurement. These heterogeneities are related to the sensor type and sensor's carrier. They affect the measurement results in terms of accuracy and accumulative information. Calibration and data synchronization were required to keep the overall results representative with error minimization. The experiment-based mobile measurements were conducted by utilizing a nano-UA V and a UGV in an indoor environment. The result indicates that the gas dispersion can be generated at each height. The variation of the measurement results was influenced by the wind direction, gas mass, sensor sensitivities, and even the UAV's turbulences.