D-CIS Publication Database

Publication

Type of publication:Article
Entered by:
TitleAn Artificial Potential Field based Sampling Strategy for a Gas-Sensitive Micro-Drone
Bibtex cite ID
Journal IROS Workshop on Robotics for Environmental Monitoring (WREM)
Year published 2011
Keywords autonomous UAV,chemical sensing,gas distribution modelling,gas source localization,gas sensors,mobile sensing system,quadrocopter,sensor planning,artificial potential field
Abstract
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 easurement 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 with a gas-sensitive micro-drone demonstrate the suitability of the proposed sampling strategy for gas distribution mapping and its use for gas source localization.
Authors
Neumann, Patrick
Asadi, Sahar
Schiller, Jochen
Lilienthal, Achim J.
Bartholmai, Matthias
Topics
=SEE CLASSIFICATION DIFFERENCE FROM OTHERS=
BibTeXBibTeX
RISRIS
Attachments
 
Total mark: 5