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From Insects to Micro Air Vehicles - A Comparison of Reactive Plume Tracking Strategies

  • Insect behavior is a common source of inspiration for roboticists and computer scientists when designing gas-sensitive mobile robots. More specifically, tracking airborne odor plumes and localization of distant gas sources are abilities that suit practical applications such as leak localization and emission monitoring. Gas sensing with mobile robots has been mostly addressed with ground-based platforms and under simplified conditions and thus, there exist a significant gap between the outstanding insect abilities and state of the art robotics systems. As a step towards practical applications, we evaluated the performance of three biologically inspired plume tracking algorithms. The evaluation is carried out not only with computer simulations, but also with real-world experiments in which, a quadrocopter-based micro Unmanned Aerial Vehicle autonomously follows a methane trail towards the emitting source. Compared to ground robots, micro UAVs bring several advantages such as theirInsect behavior is a common source of inspiration for roboticists and computer scientists when designing gas-sensitive mobile robots. More specifically, tracking airborne odor plumes and localization of distant gas sources are abilities that suit practical applications such as leak localization and emission monitoring. Gas sensing with mobile robots has been mostly addressed with ground-based platforms and under simplified conditions and thus, there exist a significant gap between the outstanding insect abilities and state of the art robotics systems. As a step towards practical applications, we evaluated the performance of three biologically inspired plume tracking algorithms. The evaluation is carried out not only with computer simulations, but also with real-world experiments in which, a quadrocopter-based micro Unmanned Aerial Vehicle autonomously follows a methane trail towards the emitting source. Compared to ground robots, micro UAVs bring several advantages such as their superior steering capabilities and fewer mobility restrictions in complex terrains. The experimental evaluation shows that, under certain environmental conditions, insect like behavior in gas-sensitive UAVs is feasible in real world environments.zeige mehrzeige weniger

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Metadaten
Autoren/innen:Patrick P. Neumann, V. H. Bennetts, A.J. Lilienthal, Matthias Bartholmai
Dokumenttyp:Beitrag zu einem Tagungsband
Veröffentlichungsform:Graue Literatur
Sprache:Englisch
Titel des übergeordneten Werkes (Englisch):13th International Conference on Intelligent Autonomous Systems (IAS)
Jahr der Erstveröffentlichung:2014
Organisationseinheit der BAM:8 Zerstörungsfreie Prüfung
8 Zerstörungsfreie Prüfung / 8.1 Sensorik, mess- und prüftechnische Verfahren
Erste Seite:1
Letzte Seite:12
Freie Schlagwörter:Autonomous micro UAV; Biologically inspired robots; Gas source localization; Mobile robot olfaction; Reactive plume tracking
Veranstaltung:13th International Conference on Intelligent Autonomous Systems (IAS)
Veranstaltungsort:Padova, Italy
Beginndatum der Veranstaltung:15.07.2014
Enddatum der Veranstaltung:18.07.2014
Verfügbarkeit des Dokuments:Datei im Netzwerk der BAM verfügbar ("Closed Access")
Datum der Freischaltung:31.12.2015
Referierte Publikation:Nein