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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Vydané v:Advanced robotics Ročník 27; číslo 9; s. 725 - 738
Hlavní autori: Neumann, Patrick P., Hernandez Bennetts, Victor, Lilienthal, Achim J., Bartholmai, Matthias, Schiller, Jochen H.
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Routledge 01.06.2013
Predmet:
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
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Abstract 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.
AbstractList 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 proposesan integral solution for the GSL task, including source declaration. We present a novel pseudo-gradient-basedplume tracking algorithm and a particle filter-based source declaration approach, and apply it on a gas-sensitivemicro-drone. We compare the performance of the proposed system in simulations and real-world experiments againsttwo commonly used tracking algorithms adapted for aerial exploration missions.
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.
Author Neumann, Patrick P.
Lilienthal, Achim J.
Bartholmai, Matthias
Hernandez Bennetts, Victor
Schiller, Jochen H.
Author_xml – sequence: 1
  givenname: Patrick P.
  surname: Neumann
  fullname: Neumann, Patrick P.
  email: Patrick.Neumann@bam.de
  organization: BAM Federal Institute for Materials Research and Testing
– sequence: 2
  givenname: Victor
  surname: Hernandez Bennetts
  fullname: Hernandez Bennetts, Victor
  organization: Mobile Robotics and Olfaction Lab , AASS Research Center, Örebro University
– sequence: 3
  givenname: Achim J.
  surname: Lilienthal
  fullname: Lilienthal, Achim J.
  organization: Mobile Robotics and Olfaction Lab , AASS Research Center, Örebro University
– sequence: 4
  givenname: Matthias
  surname: Bartholmai
  fullname: Bartholmai, Matthias
  organization: BAM Federal Institute for Materials Research and Testing
– sequence: 5
  givenname: Jochen H.
  surname: Schiller
  fullname: Schiller, Jochen H.
  organization: Institute of Computer Science, FU University
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Keywords particle filter
autonomous micro UAV
chemical and wind sensing
gas source localization
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Snippet Gas source localization (GSL) with mobile robots is a challenging task due to the unpredictable nature of gas dispersion, the limitations of the currents...
Gas source localization (GSL) with mobile robots is a challenging task due to the unpredictable nature of gas dispersion,the limitations of the currents...
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SubjectTerms autonomous micro UAV
chemical and wind sensing
Computer Science
Datavetenskap
gas source localization
particle filter
Title Gas source localization with a micro-drone using bio-inspired and particle filter-based algorithms
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