TY - GEN
T1 - Model-based shape analysis of gas concentration gridmaps for improved gas source localisation
AU - Lilienthal, Achim
AU - Streichen, Felix
AU - Zell, Andreas
PY - 2005
Y1 - 2005
N2 - This work addresses the capability to use concentration gridmaps to locate a static gas source. In previous works it was found that depending on the shape of the mapped gas distribution (corresponding to different airflow conditions) the gas source location can be sometimes approximated with high accuracy by the maximum in the concentration map while this is not possible in other cases. This paper introduces a method to distinguish both cases by analysing the shape of the obtained concentration map in terms of a model of the time-averaged gas distribution known from physics. The parameters of the model that approximates the concentration map most closely are determined by nonlinear least squares fitting using evolution strategies (ES). The best fit also provides a better estimate of the gas source position in situations where the concentration maximum estimate fails. Different methods to select the most truthful estimate are introduced in this work and a comparison regarding their accuracy is presented, based on a total of 34h of concentration mapping experiments.
AB - This work addresses the capability to use concentration gridmaps to locate a static gas source. In previous works it was found that depending on the shape of the mapped gas distribution (corresponding to different airflow conditions) the gas source location can be sometimes approximated with high accuracy by the maximum in the concentration map while this is not possible in other cases. This paper introduces a method to distinguish both cases by analysing the shape of the obtained concentration map in terms of a model of the time-averaged gas distribution known from physics. The parameters of the model that approximates the concentration map most closely are determined by nonlinear least squares fitting using evolution strategies (ES). The best fit also provides a better estimate of the gas source position in situations where the concentration maximum estimate fails. Different methods to select the most truthful estimate are introduced in this work and a comparison regarding their accuracy is presented, based on a total of 34h of concentration mapping experiments.
KW - Gas concentration mapping
KW - Gas source localisation
UR - http://www.scopus.com/inward/record.url?scp=33846124939&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2005.1570662
DO - 10.1109/ROBOT.2005.1570662
M3 - Conference contribution
AN - SCOPUS:33846124939
SN - 078038914X
SN - 9780780389144
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3564
EP - 3569
BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation
T2 - 2005 IEEE International Conference on Robotics and Automation
Y2 - 18 April 2005 through 22 April 2005
ER -