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

Abstract

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.

DOI: 10.1080/01691864.2013.779052

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Cite this paper

@article{Neumann2013GasSL, title={Gas source localization with a micro-drone using bio-inspired and particle filter-based algorithms}, author={Patrick P. Neumann and Victor Manuel Hernandez Bennetts and Achim J. Lilienthal and Matthias Bartholmai and Jochen H. Schiller}, journal={Advanced Robotics}, year={2013}, volume={27}, pages={725-738} }