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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 toward 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 toward 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 toward 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 toward 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:Verlagsliteratur
Sprache:Englisch
Titel des übergeordneten Werkes (Englisch):Intelligent autonomous systems 13 - Proceedings of the 13th international conference IAS-13
Jahr der Erstveröffentlichung:2016
Organisationseinheit der BAM:8 Zerstörungsfreie Prüfung
8 Zerstörungsfreie Prüfung / 8.1 Sensorik, mess- und prüftechnische Verfahren
Herausgeber (Institution):University of Padova
Verlag:Springer Verlag
Verlagsort:Berlin, Germany
Erste Seite:1533
Letzte Seite:1548
DDC-Klassifikation:Naturwissenschaften und Mathematik / Chemie / Analytische Chemie
Freie Schlagwörter:Autonomous micro UAV; Biologically inspired robots; Gas source localization; Mobile robot olfaction; Reactive plume tracking
Themenfelder/Aktivitätsfelder der BAM:Analytical Sciences
Analytical Sciences / Sensorik
Veranstaltung:IAS13 - 13th International conference on intelligent autonomous systems
Veranstaltungsort:Padova, Italy
Beginndatum der Veranstaltung:2014-07-15
Enddatum der Veranstaltung:2014-07-19
DOI:https://doi.org/10.1007/978-3-319-08338-4_110
URL:http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=Alerting&SrcApp=Alerting&DestApp=WOS&DestLinkType=FullRecord;UT=WOS:000377956900110
ISSN:2194-5357
ISBN:978-3-319-08338-4; 978-3-319-08337-7
Verfügbarkeit des Dokuments:Datei im Netzwerk der BAM verfügbar ("Closed Access")
Datum der Freischaltung:20.02.2016
Referierte Publikation:Ja
Datum der Eintragung als referierte Publikation:02.10.2014