Autonomous Micro-Air-Vehicle Control Based on Visual Sensing for Odor Source Localization

Kurotsuchi, Kenzo; Tai, Masayuki; Takahashi, Hiromasa

doi:10.25046/aj0203145

Cited by 3 publications

(1 citation statement)

References 22 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In addition, the effectiveness of such a solution was limited by the loading capacity of the robot. In [8], a small robot searched for a gas source (ethanol vapours) in a room. The robot moved at a constant height of 1.2 m in an area of 7 m × 12 m. However, in these examples, the robot was moving in a closed environment.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of Selected Algorithms for Air Pollution Source Localisation Using Drones

2022

View full text Add to dashboard Cite

Polluted air causes enormous damage to human health. There is a high demand to find a solution for locating the places of illegal waste incineration due to the persistent smog problem. The use of multi-rotor drones for that purpose has now become one of the important research topics. The aim of the work was to check the possibility of using simple algorithms to search for the source of pollution. The algorithms that require low computing power, which may be part of the robot’s measurement and the control system’s internal software, were considered. The focus was on building a system based on a single robot that independently searches an area of a certain size. The simulation of the accuracy and scalability of the three different search algorithms was analysed for areas up to 200 m × 200 m. Two multi-rotor robots were prepared for the fieldwork. The validation of the two selected algorithms was carried out in outdoor environmental conditions. The fieldwork tests were carried out in areas with a maximum size of 100 m × 100 m. The obtained results were different, in particular on the wind speed and direction and the intensity of the pollution source. The random influence of these factors can verify the operation of the proposed system in practical applications. The difference between the true and the position of the source indicated by the robot was up to 15 m. That difference depended on the mutual arrangement of the measurement points and the pollution source location.

show abstract

Section: Introductionmentioning

confidence: 99%