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An artificial potential field based sampling strategy for a gas-sensitive micro-drone
(BAM Federal Institute for Materials Research and Testing, Berlin)
Örebro University, School of Science and Technology. (AASS Mobile Robotics & Olfaction Lab.)
Institute of Computer Science, Freie Universität Berlin.
Örebro University, School of Science and Technology. (AASS Mobile Robotics & Olfaction Lab.)ORCID iD: 0000-0003-0217-9326
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2011 (English)Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents a sampling strategy for mobile gas sensors. Sampling points are selected using a modified artificial potential field (APF) approach, which balances multiple criteria to direct sensor measurements towards locations of high mean concentration, high concentration variance and areas for which the uncertainty about the gas distribution model is still large. By selecting in each step the most often suggested close-by measurement location, the proposed approach introduces a locality constraint that allows planning suitable paths for mobile gas sensors. Initial results in simulation and in real-world experiments witha gas-sensitive micro-drone demonstrate the suitability of the proposed sampling strategy for gas distribution mapping and its use for gas source localization.

Place, publisher, year, edition, pages
2011. 34-38 p.
Keyword [en]
autonomous UAV, chemical sensing, gas distribution modelling, gas source localization, gas sensors, mobile sensing system, quadrocopter, sensor planning, artificial potential field.
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-24125OAI: oai:DiVA.org:oru-24125DiVA: diva2:541169
Conference
IROS Workshop on Robotics for Environmental Monitoring(WREM)
Projects
Partially: EU FP7 Diadem
Funder
EU, European Research Council, 224318
Available from: 2012-08-06 Created: 2012-07-14 Last updated: 2017-10-17Bibliographically approved

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Neumann-etal_IROS-WREM2011(1313 kB)371 downloads
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File name FULLTEXT01.pdfFile size 1313 kBChecksum SHA-512
156cdb4ec42742930c7977db5500f1e9adf1389e755d39c4c2742b76502c06ac6b98e852b7cfe87bb5ac3bb4492f1ad41833554fea36d7722d923f6d2391ae9a
Type fulltextMimetype application/pdf

Other links

IROS WREM 2011, Proceeding

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CiteExportLink to record
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Citation style
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