28010
2013
eng
725
738
article
VNU Sciences Pr.
Utrecht
1
--
--
--
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 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.
Advanced robotics
30853
10.1080/01691864.2013.779052
0169-1864
11.04.2013
Patrick P. Neumann
V.H. Bennetts
A.J. Lilienthal
Matthias Bartholmai
J.H. Schiller
eng
uncontrolled
Autonomous micro UAV
eng
uncontrolled
Chemical and wind sensing
eng
uncontrolled
Gas source localization
eng
uncontrolled
Particle filter
Verlagsliteratur
Datei im Netzwerk der BAM verfügbar ("Closed Access")
28878
2013
eng
15
16
Symposia / Applications of remote and local gas sensing ...
conferenceobject
International society for olfaction and chemical sensing (ISOCS)
1
--
--
--
A probabilistic gas patch path prediction approach for airborne gas ource localization in non-uniform wind fields
In this paper, we show that a micro unmanned aerial vehicle (UAV) equipped with commercially available gas sensors can address environmental monitoring and gas source localization (GSL) tasks. To account for the challenges of gas sensing under real-world conditions, we present a probabilistic approach for GSL that is based on a particle filter (PF). Simulation and real-world experiments demonstrate the suitability of this algorithm for micro UAV platforms.
ISOEN 2013 - 15th International symposium on olfaction and electronic nose (Proceedings)
31765
ISOEN 2013 - 15th International symposium on olfaction and electronic nose
Deagu, South Korea
02.07.2013
05.07.2013
06.08.2013
Patrick P. Neumann
M. Schnürmacher
V.H. Bennetts
A.J. Lilienthal
Matthias Bartholmai
J.H. Schiller
eng
uncontrolled
Autonomous micro UAV
eng
uncontrolled
Chemical and wind sensing
eng
uncontrolled
Gas source localization
eng
uncontrolled
Particle filter
Datei im Netzwerk der BAM verfügbar ("Closed Access")
Graue Literatur