3-Dimensional Gas Source Localization via Chemotaxis Using Uncrewed Aircraft Systems

Le résumé fourni par la source

Gas source localization (GSL) enables robotic agents to trace gas plumes and identify gas source locations. This paper presents a three-dimensional (3D) GSL navigation algorithm using an uncrewed aircraft system (UAS) to autonomously locate an active gas source. Two search modes, SCAN and SEARCH, are designed to guide the UAS motions. In the SCAN mode, the UAS performs a multi-layer lawn-mower trajectory to explore the environment and to detect initial plume signals. Once high gas concentrations are detected, the system switches to the SEARCH mode, in which the UAS follows local concentration gradients to approach the gas source location. The proposed approach is evaluated using a 3D Gaussian plume model and a quadrotor UAS simulator. Simulation results demonstrate that the proposed GSL navigation algorithm can reliably guide the UAS to the gas source location with varying gas source and initial UAS locations.

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