Path planning mobile robot using waypoint for gas level mapping

The study implemented the path planning mobile robot equipped with a Global Positioning System and a gas sensor for mapping activities to detect the harmful gases in a certain location. The mobile robot was moving to some high risk places exposed to some dangerous gases on the path planning by using the waypoint. Proportional Integral Derivative controller was used to control the differential speed steering mobile robot. The experimental results showed that the average compass error was about 5% and the GPS error in navigating the waypoint was about 3 meters. Wind direction and speed exceeding 5 km/h affected the value of gas concentration reading. The system has deviation distance of less than 5 meters in following the route of the waypoint providing the information of gas levels during the trip as a source of information map.