GasSourceLocalization

GasSourceLocalization

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1. Overview

This module is designed to work in cooperation with other OpenMORA modules as the MCEnose, NavigatorReactivePTG, WorldModel, etc. to find one or multiple gas sources in an experimental area.
Specially, this module has been implemented under the assumption that the e-nose on board the robot posses an aspiration tube that is controlled by the trunk module. Nevertheless, it is not mandatory to have such configuration or even to use the "trunk" module, but of course the functionality will be reduced.

Different behaviours are implemented to cope with this gas source localization task, ranging from basic gas-mapping with very simple obstacle avoidance to more complex ones with particle filter localization of gas sources, and posterior declaration. For a detailed description of the operation modes see the Module Reference.

2. Usage

The GasSourceLocalization module reads its main configuration parameters from the pGasSourceLocalization section of a mission file (*.moos). The parameters read from this section are described in detail in Module Parameteres.