Patrick P. Neumann, Michael Schnürmacher, Victor Hernandez Bennetts, Achim J. Lilienthal, Matthias Bartholmai and Jochen H. Schiller
A Probabilistic Gas Patch Path Prediction Approach for Airborne Gas Source Localization in Non-Uniform Wind Fields
Sensor Letters, Volume 12(6-7), 2014, pp. 1113 - 1118.
Abstract: 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.
Keywords: Autonomous micro UAV, chemical and wind sensing, gas source localization, particle filter
Download: [PDF (0.7MB)]
Bibtex:
@ARTICLE{Neumann_etal:SensorLetters:2014,
  AUTHOR = {Neumann, Patrick P. and Schn{\"u}rmacher, Michael and Hernandez Bennetts, Victor and Lilienthal, Achim~J. and Bartholmai, Matthias and Schiller, Jochen H.},
  TITLE = {A Probabilistic Gas Patch Path Prediction Approach for Airborne Gas Source Localization in Non-Uniform Wind Fields},
  JOURNAL = {Sensor Letters},
  YEAR = {2014},
  VOLUME = {12},
  NUMBER = {6-7},
  PAGES = {1113--1118},
  KEYWORDS = {autonomous micro UAV, chemical and wind sensing, gas source localization, particle filter},
}