Design and flight testing of a bio-inspired plume tracking algorithm for unmanned serial vehicles
Letheren, Ben, Montes, Glen, Villa, Tommaso, & Gonzalez, Luis F. (2016) Design and flight testing of a bio-inspired plume tracking algorithm for unmanned serial vehicles. In 2016 IEEE Aerospace Conference, 5-12 March 2016, Yellowstone Conference Center, Big Sky, Montana.
There is an increased interest on the use of UAVs for environmental research such as tracking bush fires, volcanic eruptions, chemical accidents or pollution sources. The aim of this paper is to describe the theory and results of a bio-inspired plume tracking algorithm. A method for generating sparse plumes in a virtual environment was also developed. Results indicated the ability of the algorithms to track plumes in 2D and 3D. The system has been tested with hardware in the loop (HIL) simulations and in flight using a CO2 gas sensor mounted to a multi-rotor UAV. The UAV is controlled by the plume tracking algorithm running on the ground control station (GCS).
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|Item Type:||Conference Paper|
|Keywords:||bio-inspired, UAV, Plume Tracking Algorithm, chemical sensing, aerial robots, bioinspired|
|Subjects:||Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > AEROSPACE ENGINEERING (090100) > Aircraft Performance and Flight Control Systems (090104)
Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
|Divisions:||Current > Research Centres > Australian Research Centre for Aerospace Automation
Current > Schools > School of Chemistry, Physics & Mechanical Engineering
Current > Schools > School of Electrical Engineering & Computer Science
Current > Institutes > Institute for Future Environments
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2016 IEEE|
|Copyright Statement:||Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.|
|Deposited On:||27 Jan 2016 02:04|
|Last Modified:||08 Aug 2016 04:49|
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