Gas source localization with a micro-drone using bio-inspired and particle filter-based algorithms

Neumann, PatrickFederal Institute for Materials Research and Testing (BAM), Berlin, Germany,AASS MRO Lab (author)

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 proposesan integral solution for the GSL task, including source declaration. We present a novel pseudo-gradient-basedplume tracking algorithm and a particle filter-based source declaration approach, and apply it on a gas-sensitivemicro-drone. We compare the performance of the proposed system in simulations and real-world experiments againsttwo commonly used tracking algorithms adapted for aerial exploration missions.

NATURVETENSKAP Data- och informationsvetenskap Datavetenskap hsv//swe
NATURAL SCIENCES Computer and Information Sciences Computer Sciences hsv//eng
autonomous micro UAV; chemical and wind sensing; gas source localization; particle filter
Computer Science
Datavetenskap

Hernandez Bennetts, Victor,1980-Örebro universitet,Institutionen för naturvetenskap och teknik,AASS MRO Lab(Swepub:oru)vhz (author)
Lilienthal, Achim J.,1970-Örebro universitet,Institutionen för naturvetenskap och teknik,AASS MRO Lab(Swepub:oru)amll (author)
Bartholmai, MatthiasFederal Institute for Materials Research and Testing (BAM), Berlin, Germany (author)
Schiller, Jochen H.Institute of Computer Science, Freie Universität, Berlin, Germany (author)
Federal Institute for Materials Research and Testing (BAM), Berlin, GermanyAASS MRO Lab (creator_code:org_t)

By the author/editor: Neumann, Patrick; Hernandez Bennet ...; Lilienthal, Achi ...; Bartholmai, Matt ...; Schiller, Jochen ...

About the subject

NATURAL SCIENCES: NATURAL SCIENCES; and Computer and Inf ...; and Computer Science ...

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