Dynamic pollutant plume front tracking and monitoring by a single mobile robot

Jun Wei Wang; Yi Guo; Lan Zhang

doi:10.1109/CAC.2017.8243287

Dynamic pollutant plume front tracking and monitoring by a single mobile robot

Jun Wei Wang
, Yi Guo
, Lan Zhang

Department of Electrical and Computer Engineering

Stevens Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper presents an observer-based motion control scheme for a single mobile robot to track and monitor a dynamic pollutant plume propagation in m-dimensional space. The spatiotemporal dynamics of the pollutant plume is modeled by an advection-diffusion partial differential equation (PDE), and the plume front is described by a level set with a prespecified threshold value. In the suggested control scheme, a Luenberger-type PDE observer using the local area concentration measurement taken from the onboard concentration sensor is first constructed to derive the concentration field knowledge over the entire spatial domain. Then, a motion control law is constructed based on the observer equation to drive the robot to track and patrol on the plume front. Rigorous convergence analysis of the suggested control algorithm is provided by the set stability concept and Lyapunov's direct method. Numerical simulations of planar pollutant plume front tracking and monitoring are demonstrated for the effectiveness of the proposed control scheme.

Original language	English
Title of host publication	Proceedings - 2017 Chinese Automation Congress, CAC 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2987-2992
Number of pages	6
ISBN (Electronic)	9781538635247
DOIs	https://doi.org/10.1109/CAC.2017.8243287
State	Published - Dec 29 2017
Event	2017 Chinese Automation Congress, CAC 2017 - Jinan, China Duration: Oct 20 2017 → Oct 22 2017

Publication series

Name	Proceedings - 2017 Chinese Automation Congress, CAC 2017
Volume	2017-January

Conference

Conference	2017 Chinese Automation Congress, CAC 2017
Country/Territory	China
City	Jinan
Period	10/20/17 → 10/22/17

ASJC Scopus subject areas

Artificial Intelligence
Control and Optimization
Modeling and Simulation
Computer Science Applications

Keywords

Luenberger observer
Monitoring
distributed parameter systems
dynamic plume field
mobile robot

Access to Document

10.1109/CAC.2017.8243287

Cite this

Wang, J. W., Guo, Y., & Zhang, L. (2017). Dynamic pollutant plume front tracking and monitoring by a single mobile robot. In Proceedings - 2017 Chinese Automation Congress, CAC 2017 (pp. 2987-2992). (Proceedings - 2017 Chinese Automation Congress, CAC 2017; Vol. 2017-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CAC.2017.8243287

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title = "Dynamic pollutant plume front tracking and monitoring by a single mobile robot",

abstract = "This paper presents an observer-based motion control scheme for a single mobile robot to track and monitor a dynamic pollutant plume propagation in m-dimensional space. The spatiotemporal dynamics of the pollutant plume is modeled by an advection-diffusion partial differential equation (PDE), and the plume front is described by a level set with a prespecified threshold value. In the suggested control scheme, a Luenberger-type PDE observer using the local area concentration measurement taken from the onboard concentration sensor is first constructed to derive the concentration field knowledge over the entire spatial domain. Then, a motion control law is constructed based on the observer equation to drive the robot to track and patrol on the plume front. Rigorous convergence analysis of the suggested control algorithm is provided by the set stability concept and Lyapunov's direct method. Numerical simulations of planar pollutant plume front tracking and monitoring are demonstrated for the effectiveness of the proposed control scheme.",

keywords = "Luenberger observer, Monitoring, distributed parameter systems, dynamic plume field, mobile robot",

author = "Wang, \{Jun Wei\} and Yi Guo and Lan Zhang",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 Chinese Automation Congress, CAC 2017 ; Conference date: 20-10-2017 Through 22-10-2017",

year = "2017",

month = dec,

day = "29",

doi = "10.1109/CAC.2017.8243287",

language = "English",

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Wang, JW, Guo, Y & Zhang, L 2017, Dynamic pollutant plume front tracking and monitoring by a single mobile robot. in Proceedings - 2017 Chinese Automation Congress, CAC 2017. Proceedings - 2017 Chinese Automation Congress, CAC 2017, vol. 2017-January, Institute of Electrical and Electronics Engineers Inc., pp. 2987-2992, 2017 Chinese Automation Congress, CAC 2017, Jinan, China, 10/20/17. https://doi.org/10.1109/CAC.2017.8243287

Dynamic pollutant plume front tracking and monitoring by a single mobile robot. / Wang, Jun Wei; Guo, Yi; Zhang, Lan.
Proceedings - 2017 Chinese Automation Congress, CAC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 2987-2992 (Proceedings - 2017 Chinese Automation Congress, CAC 2017; Vol. 2017-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Dynamic pollutant plume front tracking and monitoring by a single mobile robot

AU - Wang, Jun Wei

AU - Guo, Yi

AU - Zhang, Lan

PY - 2017/12/29

Y1 - 2017/12/29

N2 - This paper presents an observer-based motion control scheme for a single mobile robot to track and monitor a dynamic pollutant plume propagation in m-dimensional space. The spatiotemporal dynamics of the pollutant plume is modeled by an advection-diffusion partial differential equation (PDE), and the plume front is described by a level set with a prespecified threshold value. In the suggested control scheme, a Luenberger-type PDE observer using the local area concentration measurement taken from the onboard concentration sensor is first constructed to derive the concentration field knowledge over the entire spatial domain. Then, a motion control law is constructed based on the observer equation to drive the robot to track and patrol on the plume front. Rigorous convergence analysis of the suggested control algorithm is provided by the set stability concept and Lyapunov's direct method. Numerical simulations of planar pollutant plume front tracking and monitoring are demonstrated for the effectiveness of the proposed control scheme.

AB - This paper presents an observer-based motion control scheme for a single mobile robot to track and monitor a dynamic pollutant plume propagation in m-dimensional space. The spatiotemporal dynamics of the pollutant plume is modeled by an advection-diffusion partial differential equation (PDE), and the plume front is described by a level set with a prespecified threshold value. In the suggested control scheme, a Luenberger-type PDE observer using the local area concentration measurement taken from the onboard concentration sensor is first constructed to derive the concentration field knowledge over the entire spatial domain. Then, a motion control law is constructed based on the observer equation to drive the robot to track and patrol on the plume front. Rigorous convergence analysis of the suggested control algorithm is provided by the set stability concept and Lyapunov's direct method. Numerical simulations of planar pollutant plume front tracking and monitoring are demonstrated for the effectiveness of the proposed control scheme.

KW - Luenberger observer

KW - Monitoring

KW - distributed parameter systems

KW - dynamic plume field

KW - mobile robot

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BT - Proceedings - 2017 Chinese Automation Congress, CAC 2017

PB - Institute of Electrical and Electronics Engineers Inc.

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Dynamic pollutant plume front tracking and monitoring by a single mobile robot

Abstract

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ASJC Scopus subject areas

Keywords

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