2023
DOI: 10.1109/access.2023.3238470
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Integration of Bayesian Inference and Anemotaxis for Robotics Gas Source Localization in a Large Cluttered Outdoor Environment

Abstract: Finding a gas source in a cluttered outdoor environment using autonomous robot is a complex challenge. The gas movement is difficult to predict as it is significantly affected by the wind and the shape of objects in the environment. In this paper, we propose a new probabilistic model and an integration of Bayesian inference and anemotaxis methods used for a robot to find a gas source in a large cluttered outdoor environment. An autonomous robot installed with a gas sensor is expected to find the location of th… Show more

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Cited by 6 publications
(3 citation statements)
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“…Moreover, the wind profile obtained from the CFD simulations can be leveraged to generate gas dispersion patterns. This integration allows for a comprehensive understanding of how gas particles disperse within the environment under the influence of complex wind dynamics [11].…”
Section: ) Using Cfd Modelmentioning
confidence: 99%
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“…Moreover, the wind profile obtained from the CFD simulations can be leveraged to generate gas dispersion patterns. This integration allows for a comprehensive understanding of how gas particles disperse within the environment under the influence of complex wind dynamics [11].…”
Section: ) Using Cfd Modelmentioning
confidence: 99%
“…The joint metric score (M ) is calculated using (11). The normalized area covered and C NLPD are multiplied together and then divided by the normalized time to find the gas sources.…”
Section: A Monte Carlo Simulation In a Free Space Environmentmentioning
confidence: 99%
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