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Type of publication:Article
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TitleMicro-Drone for Wind Vector Estimation and Gas Distribution Mapping
Bibtex cite ID
Journal IEEE Robotics and Automation Magazine
Year published 2012
DOI 10.1109/mra.2011.2184671
Keywords anemometric sensor,autonomous Micro UAV,chemical sensing,gas distribution modelling,gas source localization,gas sensors,mobile sensing system,quadrocopter,sensor planning,artificial potential field
Abstract
This article presents the development and validation of an autonomous, gas-sensitive micro-drone that is capable of estimating the wind vector in real time using only the onboard control unit of the micro-drone and performing gas distribution mapping. Two different sampling approaches are suggested to address this problem. On the one hand, a predefined trajectory is used to explore the target area with the micro-drone in a real-world gas distribution mapping experiment. As an alternative sampling approach, we introduce an adaptive strategy that suggests next sampling points based on an artificial potential field (APF). Initial results in real-world experiments demonstrate the capability of the proposed adaptive sampling strategy for gas distribution mapping and its use for gas source localization.
Authors
Neumann, Patrick
Asadi, Sahar
Lilienthal, Achim J.
Bartholmai, Matthias
Schiller, Jochen
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