Simulating a Gas Source Localization Algorithm with Gas Dispersion Produced by Recorded Outdoor Wind
- This paper reports the use of the first gas dispersion simulator capable of introducing large wind fluctuations into simulations. The proposed simulator enables testing of a modification made to a gas source localization algorithm in a realistic scenario in order to study how the change affects it. Gas source localization in an outdoor environment is a challenging task mainly due to the complexity of the gas spread caused by the unpredictable nature of constantly changing wind. Therefore, a novel use of outdoor wind in developing a gas source localization system by simulation is presented in this paper. To consider the characteristic of sudden but large and unpredictable changes in wind direction, we propose to use recorded outdoor wind to simulate a realistic outdoor gas dispersion which has been done for the first time to the best of our knowledge. With the use of this simulator, we have tested a modification to a mobile robot-based gas source localization algorithm. MultipleThis paper reports the use of the first gas dispersion simulator capable of introducing large wind fluctuations into simulations. The proposed simulator enables testing of a modification made to a gas source localization algorithm in a realistic scenario in order to study how the change affects it. Gas source localization in an outdoor environment is a challenging task mainly due to the complexity of the gas spread caused by the unpredictable nature of constantly changing wind. Therefore, a novel use of outdoor wind in developing a gas source localization system by simulation is presented in this paper. To consider the characteristic of sudden but large and unpredictable changes in wind direction, we propose to use recorded outdoor wind to simulate a realistic outdoor gas dispersion which has been done for the first time to the best of our knowledge. With the use of this simulator, we have tested a modification to a mobile robot-based gas source localization algorithm. Multiple simulations of the modified and the original particle filter-based algorithm have been done to study the effect of the tested modification. The results showed that a small difference in the algorithm can greatly impact the results. From this study, we show that the use of simulation consisting of the necessary traits to evaluate outdoor gas source localization, has the potential to accelerate the development of a reliable localization system.…
Autor*innen: | T. Haratsu, M. Sakaue, H. Matsukura, Patrick P. NeumannORCiD, H. Ishida |
---|---|
Persönliche Herausgeber*innen: | D. Tardioli, V. Matellán, G. Heredia, M. F. Silva, L. Marques |
Dokumenttyp: | Beitrag zu einem Tagungsband |
Veröffentlichungsform: | Graue Literatur |
Sprache: | Englisch |
Titel des übergeordneten Werkes (Englisch): | Proceedings of the Fifth Iberian Robotics Conference (ROBOT2022) |
Jahr der Erstveröffentlichung: | 2023 |
Organisationseinheit der BAM: | 8 Zerstörungsfreie Prüfung |
8 Zerstörungsfreie Prüfung / 8.1 Sensorik, mess- und prüftechnische Verfahren | |
Verlag: | Springer |
Erste Seite: | 105 |
Letzte Seite: | 116 |
DDC-Klassifikation: | Naturwissenschaften und Mathematik / Chemie / Analytische Chemie |
Technik, Medizin, angewandte Wissenschaften / Ingenieurwissenschaften / Sanitär- und Kommunaltechnik; Umwelttechnik | |
Freie Schlagwörter: | Gas Dispersion Simulator; Gas Source Localization; Mobile Robot Olfaction; Particle Filter |
Themenfelder/Aktivitätsfelder der BAM: | Umwelt |
Umwelt / Sensorik | |
Veranstaltung: | ROBOT2022: Fifth Iberian Robotics Conference |
Veranstaltungsort: | Zaragoza, Spain |
Beginndatum der Veranstaltung: | 23.11.2022 |
Enddatum der Veranstaltung: | 25.11.2022 |
DOI: | 10.1007/978-3-031-21062-4_9 |
ISBN: | 978-3-031-21061-7 |
Verfügbarkeit des Dokuments: | Datei im Netzwerk der BAM verfügbar ("Closed Access") |
Datum der Freischaltung: | 28.11.2022 |
Referierte Publikation: | Ja |
Datum der Eintragung als referierte Publikation: | 27.02.2023 |