DocumentCode
2261083
Title
Three-dimensional gas distribution mapping with a micro-drone
Author
Bing, Luo ; Qing-Hao, Meng ; Jia-Ying, Wang ; Biao, Sun ; Ying, Wang
Author_Institution
Institute of Robotics and Autonomous Systems, School of Electrical Engineering and Automation, Tianjin University, Tianjin 300072, P.R. China
fYear
2015
fDate
28-30 July 2015
Firstpage
6011
Lastpage
6015
Abstract
This paper presents the methods and experiment results of three-dimensional gas distribution mapping with a micro-drone. With the 3D Kernel DM (kernel extrapolation distribution mapping) algorithm implemented into the micro-drone´s onboard computer, the gas distribution map is real-time updated when the micro-drone flies along predefined sweeping path to traverse the search area in outdoor environments. Results show that the concentration grid map obtained can represent the real gas distribution in a certain extent, and demonstrate that gas distribution mapping with a micro-drone is applicable in the realistic scenarios.
Keywords
Gas detectors; Kernel; Mobile robots; Robot sensing systems; Three-dimensional displays; Trajectory; chemical sensing; drone; gas distribution mapping; micro UAV; quadcopter; three-dimensional;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (CCC), 2015 34th Chinese
Conference_Location
Hangzhou, China
Type
conf
DOI
10.1109/ChiCC.2015.7260580
Filename
7260580
Link To Document