METHOD FOR SETTING A PATH OF UNMANNED ROBOT TO DETECT CONTAMINATION CONTOUR AND METHOD FOR PREDICTING TIME-VARYING CONTAMINATION CONTOUR USING CONTAMINATION DATA OBTAINED FROM CHEMICAL SENSORS ON UNMANNED ROBOT

摘要

PURPOSE: A method of setting a path for a moving robot to detect contours of contaminated sites and a method of predicting the contours of the diffused contaminated sites according to the time using data detected by the moving robot estimate contours of basis concentrations at a certain time by performing interpolation using a basis concentration point estimated from a probing point. CONSTITUTION: A path of a moving robot is set depending on one among a sequential method and a simultaneous method to detect contours of contaminated sites. The sequential method sequentially performs a grid coverage step (100), a contour detection step (200) and a remaining grid coverage step (300) for a reconnaissance target area. The simultaneous method alternately performs the grid coverage step and the contour detection step for the reconnaissance target area. [Reference numerals] (100) Grid coverage step; (110) Going-straight unit; (120) Taking-the-corner unit; (200) Contour detection step; (210) Limit calculation process; (220) Contour ellipse detection step; (230) Contour ellipse calculation process; (300) Remaining grid coverage step; (310) Area-dividing process; (320) Remaining grid coverage process