An Intelligent Framework to Manage and Control an Autonomous Platform for Detection, Inspection and Monitoring Applications in Chemical Environments

摘要

Implementing an intelligent framework using an autonomous robotic platform offers an effective and versatile solution for monitoring chemical environments. The robotic platform can be customized by adding different types of sensors depending on the desired application. The intelligent control system is realized using a PID control line tracker algorithm allowing it to cover a larger area for data acquisition for further analysis. The data is logged in terms of platform position based on GPS coordinates and time stamp and time interval between sampling. We were able to test the behavior of the developed robot in aggressive chemical environments- acid and base- as well as in experimental ambient conditions (variable concentrations of O2 and CO2). The only limitation we found this moment is the concentrations of acids and bases to be used (Perchloric acid, Hydrochloric acid, Sulfuric acid, Acetic acid, Methanesulfonic acid, Sodium hydroxide, Potassium hydroxide, Sodium carbonate, Sodium sulfate, Sodium fluoride) starting from the observed and proved damage on the plastics of the wheel.