Application Research Of Gas Leakage Tracing Based On Moble Robot

In recent years,the frequent occurrence of dangerous chemical accidents poses a great threat to urban security.Among them,hazardous gas leakage is the largest proportion in the total amount of dangerous chemical accidents.When a Hazardous chemical gas leaks,determining the source location of the Hazardous chemical gas makes for making an accident emergency plan.In this paper,a path optimization method based on SLAM is proposed.Robot can finally find the source location of the Hazardous chemical gas by searching the density of the gas.Based on the overall requirements of traceability and navigation,the traceability system of mobile robot based on ROS is design in this paper.This paper first introduces the current research of mobile robot and ROS,then analyzes the application of mobile robot in the field of chemical industry,and puts forward a kind of heuristic path search method to reveal the source traceability.Three modules are designed based on mobile robot path optimization method of traceability system overall structure,through the analysis of the roots of the leaking source.Then it puts forward the design of the costmap.The navigation path planning module analyzes Dijkstra global path planning algorithm and DWA local path planning algorithm,and describes the robot navigation path planning process in detail.The SLAM module analyzes the AMCL adaptive positioning algorithm,describing therobot localization process in detail,and completes the simulation test.The motion control module has built a crawler mobile platform,which has the ability of gas detection and independent movement.It can move to the high concentration area independently according to the change of gas concentration value,and become the mobile terminal of the traceability system.In this paper,the whole framework of traceability system for mobile robot based on ROS is established,and the corresponding functions of the three modules are realized.The autonomous mobile navigation and positioning ability of the robot is tested in the simulation map,and the experimental results are analyzed.At the same time,the autonomous moving function of the robot to the region with high gas concentration is realized.The results show that the robot can effectively accomplish the traceability task and avoid obstacles in time,and achieve autonomous path planning and location.