Chemical servoing with hexapod robot for gas source localization and YOLO‑based visual defect detection
Article : Articles dans des revues internationales ou nationales avec comité de lecture
Robotic systems have the ability to perform industrial inspection tasks through the integration of visual and chemical servoing functions. A commonly used system is the image-based servoing system. This study presents an innovative approach
that merges chemical servoing with visual defect detection in industrial settings using a hexapod robot. The main goal is to
develop a hexapod robot capable of detecting and approaching a gas source through chemical servoing, and subsequently
analyzing the source using a pretrained YOLOv5m model, a one-stage CNN detector architecture. The efectiveness of the
proposed methodology is showcased through simulations that compare diferent chemical servoing algorithms and image
defect detection techniques for gas source identifcation. In addition, a prototype of the hexapod robot is presented.