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A Probabilistic Gas Patch Path Prediction Approach for Airborne Gas Source Localization in Non-Uniform Wind Fields

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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.
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Keywords: AUTONOMOUS MICRO UAV; CHEMICAL AND WIND SENSING; GAS SOURCE LOCALIZATION; PARTICLE FILTER

Document Type: Research Article

Publication date: 01 June 2014

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