IEEE Robotics & Automation Magazine - March 2012 - 50
By Patrick P. Neumann, Sahar Asadi,
Achim J. Lilienthal, Matthias Bartholmai,
and Jochen H. Schiller
*
T
his article presents the development
and validation of an autonomous, gassensitive microdrone that is capable of
estimating the wind vector in real time
using only the onboard control unit
of the microdrone and performing gas distribution mapping (DM). 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 microdrone
in a real-world gas DM 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
DM and its use for gas source localization.
At present, the release of hazardous and
greenhouse gases is an acute threat and
mainly responsible for extensive problems, both global (ozone hole and global
warming) and local (pollution, poisoning
hazards caused by accidents). Gases may
be released in many ways for various reasons: as exhaust gases from traffic or
© LUSHPIX
Wind Vector Estimation
and Gas Distribution Mapping
Digital Object Identifier 10.1109/MRA.2012.2184671
Date of publication: 16 February 2012
50
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
MARCH 2012
1070-9932/12/$31.00ª2012 IEEE
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - March 2012
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