Gas pollution control is an urgent issue in developing countries, which has become a global concern. In this paper, considering the deficiencies in the illegal gas emission supervisory system, and the difficulties for the law enforcement officers to find and take the evidence of illegal emissions or realize the all-time supervision, a method to automatically locate the source of illegal gas emissions using the unmanned aerial vehicle (UAV) is proposed. First, we investigated the gas diffusion by Gaussian plume model. Then we used this model to establish the weighted centroid locating method based on concentration diffusion gradient and designed the route of the UAV to arrive at the gas pollution source automatically. Finally, we applied this algorithm on a F450-pixhack4 UAV and conducted the experiment to verify the feasibility of this method, the experiment results show that the maximum error of the located position is about 6 m in a 1000 m2 searching area.


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    Title :

    Autonomous UAV Gas Pollution Source Locating Method Based on Concentration Diffusion Gradient


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Fu, Wenxing (editor) / Gu, Mancang (editor) / Niu, Yifeng (editor) / Chen, Haisheng (author) / Wang, Zicheng (author) / Su, Hang (author) / Liu, Fangqi (author) / Zhang, Tianxian (author)

    Conference:

    International Conference on Autonomous Unmanned Systems ; 2022 ; Xi'an, China September 23, 2022 - September 25, 2022



    Publication date :

    2023-03-10


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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