LiDAR Equipped Robot Navigation on Behavior-based Formation Control for Gas Leak Localization

The use of robots as human replacement for gas inspection and searching has significant benefit to reduce number human involved in accident. Gas detection method has difficulty since it is easy to be conveyed by airflow. Therefore, several robots are utilized by performing a defined formation and working together, thus they will reduce missed orientation to gas leak source. This paper discusses how single robot behave in behavior-based formation control. Robot equipped with Light Detection and Ranging (LiDAR) locates other robot, so they can maintain its formation. Moreover, gas sensor is attached as stereo nose to locate gas leak source. Fuzzy logic is deployed to approach how robot navigate itself in the formation. As a result, various direction and velocity occurs to perform a formation and move to gas leak source. Experimental results show that the robot can reach gas leak source in 36 to 132 seconds and keep the distance among the robots around 36.3 to 83.7 centimeters in the formation.