Paper Info
Title
Bringing Mobile Robot Olfaction to the next dimension - UAV-based remote sensing of gas clouds and source localization.
Abstract
This paper introduces a novel robotic platform for aerial remote gas sensing. Spectroscopic measurement methods for remote sensing of selected gases lend themselves for use on mini-copters, which offer a number of advantages for inspection and surveillance. No direct contact with the target gas is needed and thus the influence of the aerial platform on the measured gas plume can be kept to a minimum. This allows to overcome one of the major issues with gas-sensitive mini-copters. On the other hand, remote gas sensors, most prominently Tunable Diode Laser Absorption Spectroscopy (TDLAS) sensors have been too bulky given the payload and energy restrictions of mini-copters. Here, we introduce and present the Unmanned Aerial Vehicle for Remote Gas Sensing (UAV-REGAS), which combines a novel lightweight TDLAS sensor with a 3-axis aerial stabilization gimbal for aiming on a versatile hexacopter. The proposed system can be deployed in scenarios that cannot be addressed by currently available robots and thus constitutes a significant step forward for the field of Mobile Robot Olfaction (MRO). It enables tomographic reconstruction of gas plumes and a localization of gas sources. We also present first results showing the gas sensing and aiming capabilities under realistic conditions.
Year
DOI
Venue
2017
10.1109/ICRA.2017.7989450
ICRA
Field
DocType
Volume
Tomographic reconstruction,Remote sensing,Source localization,Artificial intelligence,Engineering,Robot,Tunable diode laser absorption spectroscopy,Robotics,Mobile robot,Gimbal,Payload
Conference
2017
Issue
Citations 
PageRank 
1
1
0.36
References 
Authors
6
5
Name
Order
Citations
PageRank
Patrick P. Neumann1775.64
Harald Kohlhoff210.36
Dino Hüllmann310.69
Achim J. Lilienthal41468113.18
Martin Kluge510.36