Gaussian-Based Kernel for Multi-Agent Aerial Chemical-Plume Mapping

IF 1 Q4 AUTOMATION & CONTROL SYSTEMS

Mechatronic Systems and Control Pub Date : 2019-11-26 DOI:10.1115/dscc2019-9027

Xiang He, Jake A. Steiner, Joseph R. Bourne, K. Leang

引用次数: 6

Abstract

This paper presents a multi-vehicle chemical-plume mapping process that incorporates onboard wind speed and direction estimation. A Gaussian plume model is exploited to develop the kernel for extrapolating the measured data. Compared to the uni- or bi-variate kernels, the proposed kernel uses the estimated wind information to refine the chemical concentration prediction downwind of the source. This new approach, compared to previous mapping methods, relies on fewer parameters and provides 30% reduction in the mapping mean-squared error. Simulation and experimental results are presented to validate the approach. Specifically, outdoor flight tests show three aerial robots with chemical sensing capabilities mapping a real propane gas leak to demonstrate feasibility of the approach.

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基于高斯核的多agent航空化学烟流测绘

本文提出了一种结合机载风速和风向估计的多飞行器化学烟羽测绘方法。利用高斯羽流模型开发了外推测量数据的核。与单变量或双变量核函数相比，该核函数利用估计的风信息来改进源下风的化学浓度预测。与以前的映射方法相比，这种新方法依赖的参数更少，映射均方误差降低了30%。仿真和实验结果验证了该方法的有效性。具体而言，户外飞行测试显示，三个具有化学传感能力的空中机器人绘制了真实的丙烷气体泄漏，以证明该方法的可行性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronic Systems and Control AUTOMATION & CONTROL SYSTEMS-

CiteScore

1.40

自引率

66.70%

发文量

期刊介绍： This international journal publishes both theoretical and application-oriented papers on various aspects of mechatronic systems, modelling, design, conventional and intelligent control, and intelligent systems. Application areas of mechatronics may include robotics, transportation, energy systems, manufacturing, sensors, actuators, and automation. Techniques of artificial intelligence may include soft computing (fuzzy logic, neural networks, genetic algorithms/evolutionary computing, probabilistic methods, etc.). Techniques may cover frequency and time domains, linear and nonlinear systems, and deterministic and stochastic processes. Hybrid techniques of mechatronics that combine conventional and intelligent methods are also included. First published in 1972, this journal originated with an emphasis on conventional control systems and computer-based applications. Subsequently, with rapid advances in the field and in view of the widespread interest and application of soft computing in control systems, this latter aspect was integrated into the journal. Now the area of mechatronics is included as the main focus. A unique feature of the journal is its pioneering role in bridging the gap between conventional systems and intelligent systems, with an equal emphasis on theory and practical applications, including system modelling, design and instrumentation. It appears four times per year.