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Title: Towards Fast Plume Source Estimation with a Mobile Robot
Authors: Magalhães, Hugo 
Baptista, Rui 
Macedo, Joã 
Marques, Lino 
Keywords: mobile robotics; gas source localisation; particle filter
Issue Date: 8-Dec-2020
Publisher: MDPI
Project: UID/EEA/00048/2019 
Serial title, monograph or event: Sensors (Switzerland)
Volume: 20
Issue: 24
Abstract: The estimation of the parameters of an odour source is of high relevance for multiple applications, but it can be a slow and error prone process. This work proposes a fast particle filter-based method for source term estimation with a mobile robot. Two strategies are implemented in order to reduce the computational cost of the filter and increase its accuracy: firstly, the sampling process is adapted by the mobile robot in order to optimise the quality of the data provided to the estimation process; secondly, the filter is initialised only after collecting preliminary data that allow limiting the solution space and use a shorter number of particles than it would be normally necessary. The method assumes a Gaussian plume model for odour dispersion. This models average odour concentrations, but the particle filter was proved adequate to fit instantaneous concentration measurements to that model, while the environment was being sampled. The method was validated in an obstacle free controlled wind tunnel and the validation results show its ability to quickly converge to accurate estimates of the plume's parameters after a reduced number of plume crossings.
ISSN: 1424-8220
DOI: 10.3390/s20247025
Rights: openAccess
Appears in Collections:I&D ISR - Artigos em Revistas Internacionais
I&D CISUC - Artigos em Revistas Internacionais

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