TY - JOUR
T1 - Gas source localization with a micro-drone using bio-inspired and particle filter-based algorithms
AU - Neumann, Patrick P.
AU - Hernandez Bennetts, Victor
AU - Lilienthal, Achim J.
AU - Bartholmai, Matthias
AU - Schiller, Jochen H.
N1 - Funding Information:
The authors thank the participating colleagues from BAM and Örebro University. They also express their gratitude to BMWi (MNPQ Program; file number 28/07) and Robotdalen (Gasbot; project number 8140) for funding the research.
PY - 2013/6/1
Y1 - 2013/6/1
N2 - Gas source localization (GSL) with mobile robots is a challenging task due to the unpredictable nature of gas dispersion, the limitations of the currents sensing technologies, and the mobility constraints of ground-based robots. This work proposes an integral solution for the GSL task, including source declaration. We present a novel pseudo-gradient-based plume tracking algorithm and a particle filter-based source declaration approach, and apply it on a gas-sensitive micro-drone. We compare the performance of the proposed system in simulations and real-world experiments against two commonly used tracking algorithms adapted for aerial exploration missions.
AB - Gas source localization (GSL) with mobile robots is a challenging task due to the unpredictable nature of gas dispersion, the limitations of the currents sensing technologies, and the mobility constraints of ground-based robots. This work proposes an integral solution for the GSL task, including source declaration. We present a novel pseudo-gradient-based plume tracking algorithm and a particle filter-based source declaration approach, and apply it on a gas-sensitive micro-drone. We compare the performance of the proposed system in simulations and real-world experiments against two commonly used tracking algorithms adapted for aerial exploration missions.
KW - autonomous micro UAV
KW - chemical and wind sensing
KW - gas source localization
KW - particle filter
UR - https://www.scopus.com/pages/publications/84877939308
U2 - 10.1080/01691864.2013.779052
DO - 10.1080/01691864.2013.779052
M3 - Article
AN - SCOPUS:84877939308
SN - 0169-1864
VL - 27
SP - 725
EP - 738
JO - Advanced Robotics
JF - Advanced Robotics
IS - 9
ER -