Autonomous gas-sensitive microdrone - wind vector estimation and gas distribution mapping
- This article presents the development and validation of an autonomous, gas sensitive microdrone that is capable of estimating the wind vector in real time using only the onboard control unit of the microdrone and performing gas distribution mapping (DM). Two different sampling approaches are suggested to address this problem. On the one hand, a predefined trajectory is used to explore the target area with the microdrone in a real-world gas DM experiment. As an alternative sampling approach, we introduce an adaptive strategy that suggests next sampling points based on an artificial potential field (APF). Initial results in real-world experiments demonstrate the capability of the proposed adaptive sampling strategy for gas DM and its use for gas source localization.
Autor*innen: | Patrick P. NeumannORCiD, S. Asadi, A.J. Lilienthal, Matthias BartholmaiORCiD, J.H. Schiller |
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Dokumenttyp: | Zeitschriftenartikel |
Veröffentlichungsform: | Verlagsliteratur |
Sprache: | Englisch |
Titel des übergeordneten Werkes (Englisch): | IEEE Robotics and automation magazine |
Jahr der Erstveröffentlichung: | 2012 |
Verlag: | IEEE |
Verlagsort: | New York, NY, USA |
Jahrgang/Band: | 19 |
Ausgabe/Heft: | 1 |
Erste Seite: | 50 |
Letzte Seite: | 61 |
Freie Schlagwörter: | Anemometric sensor; Artificial potential field; Autonomous micro UAV; Chemical sensing; Gas distribution modelling; Gas sensors; Gas source localization; Mobile sensing system; Quadrocopter; Sensor planning |
DOI: | 10.1109/MRA.2012.2184671 |
ISSN: | 1070-9932 |
Verfügbarkeit des Dokuments: | Physisches Exemplar in der Bibliothek der BAM vorhanden ("Hardcopy Access") |
Bibliotheksstandort: | Sonderstandort: Publica-Schrank |
Datum der Freischaltung: | 19.02.2016 |
Referierte Publikation: | Ja |
Datum der Eintragung als referierte Publikation: | 26.04.2012 |