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arXiv · 2505.19600

Indoor Air Quality Detection Robot Model Based on the Internet of Things (IoT)

Anggiat Mora Simamora·Asep Denih·Mohamad Iqbal Suriansyah
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Abstract

This paper presents the design, implementation, and evaluation of an IoT-based robotic system for mapping and monitoring indoor air quality. The primary objective was to develop a mobile robot capable of autonomously mapping a closed environment, detecting concentrations of CO$_2$, volatile organic compounds (VOCs), smoke, temperature, and humidity, and transmitting real-time data to a web interface. The system integrates a set of sensors (SGP30, MQ-2, DHT11, VL53L0X, MPU6050) with an ESP32 microcontroller. It employs a mapping algorithm for spatial data acquisition and utilizes a Mamdani fuzzy logic system for air quality classification. Empirical tests in a model room demonstrated average localization errors below $5\%$, actuator motion errors under $2\%$, and sensor measurement errors within $12\%$ across all modalities. The contributions of this work include: (1) a low-cost, integrated IoT robotic platform for simultaneous mapping and air quality detection; (2) a web-based user interface for real-time visualization and control; and (3) validation of system accuracy under laboratory conditions.

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Anggiat Mora Simamora, Asep Denih, Mohamad Iqbal Suriansyah. 2025-05-26. Indoor Air Quality Detection Robot Model Based on the Internet of Things (IoT). https://arxiv.org/abs/2505.19600

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