Gas source localization with a micro-drone using bio-inspired and particle filter-based algorithms

Gas source localization (GSL) with mobile robots is a challenging task due to the unpredictable nature of gas dispersion, the limitations of the currents sensing technologies, and the mobility constraints of ground-based robots. This work proposes an integral solution for the GSL task, including sou...

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Veröffentlicht in:Advanced robotics Jg. 27; H. 9; S. 725 - 738
Hauptverfasser: Neumann, Patrick P., Hernandez Bennetts, Victor, Lilienthal, Achim J., Bartholmai, Matthias, Schiller, Jochen H.
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Routledge 01.06.2013
Schlagworte:
autonomous micro UAV
chemical and wind sensing
Computer Science
Datavetenskap
gas source localization
particle filter
particle filter
autonomous micro UAV
chemical and wind sensing
gas source localization
ISSN:0169-1864, 1568-5535, 1568-5535
Online-Zugang:Volltext
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Zusammenfassung:Gas source localization (GSL) with mobile robots is a challenging task due to the unpredictable nature of gas dispersion, the limitations of the currents sensing technologies, and the mobility constraints of ground-based robots. This work proposes an integral solution for the GSL task, including source declaration. We present a novel pseudo-gradient-based plume tracking algorithm and a particle filter-based source declaration approach, and apply it on a gas-sensitive micro-drone. We compare the performance of the proposed system in simulations and real-world experiments against two commonly used tracking algorithms adapted for aerial exploration missions.
ISSN:0169-1864
1568-5535
1568-5535
DOI:10.1080/01691864.2013.779052