An artificial potential field based sampling strategy for a gas-sensitive micro-drone
2011 (English)Conference paper (Refereed)
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.
autonomous UAV, chemical sensing, gas distribution modelling, gas source localization, gas sensors, mobile sensing system, quadrocopter, sensor planning, artificial potential field.
Research subject Computer Science
IdentifiersURN: urn:nbn:se:oru:diva-24125OAI: oai:DiVA.org:oru-24125DiVA: diva2:541169
IROS Workshop on Robotics for Environmental Monitoring(WREM)
ProjectsPartially: EU FP7 Diadem
FunderEU, European Research Council, 224318