TY - JOUR
T1 - A probabilistic gas patch path prediction approach for airborne gas source localization in non-uniform wind fields
AU - Neumann, Patrick P.
AU - Schnurmacher, Michael
AU - Bennetts, Victor Hernandez
AU - Lilienthal, Achim J.
AU - Bartholmai, Matthias
AU - Schiller, Jochen H.
N1 - Publisher Copyright:
Copyright © 2014 American Scientific Publishers.
PY - 2014/6/1
Y1 - 2014/6/1
N2 - 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 to GSL that is based on a particle filter (PF). Simulation and real-world experiments demonstrate the suitability of this algorithm for micro UAV platforms.
AB - 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 to GSL that is based on a particle filter (PF). Simulation and real-world experiments demonstrate the suitability of this algorithm for micro UAV platforms.
KW - Autonomous micro UAV
KW - Chemical and wind sensing
KW - Gas source localization
KW - Particle filter
UR - http://www.scopus.com/inward/record.url?scp=84911400337&partnerID=8YFLogxK
U2 - 10.1166/sl.2014.3168
DO - 10.1166/sl.2014.3168
M3 - Article
AN - SCOPUS:84911400337
SN - 1546-198X
VL - 12
SP - 1113
EP - 1118
JO - Sensor Letters
JF - Sensor Letters
IS - 6-7
ER -