Repository logo

Infoscience

  • English
  • French
Log In
Logo EPFL, École polytechnique fédérale de Lausanne

Infoscience

  • English
  • French
Log In
  1. Home
  2. Academic and Research Output
  3. Journal articles
  4. Particle Source Localization with a Low-Cost Robotic Sensor System: Algorithmic Design and Performance Evaluation
 
research article

Particle Source Localization with a Low-Cost Robotic Sensor System: Algorithmic Design and Performance Evaluation

Chen, Xinxing
•
Marjovi, Ali  
•
Huang, Jian
Show more
2020
IEEE Sensors Journal

In this paper we tackle the problem of finding the source of particulate matter with a mobile robot equipped with a low-cost multi-channel optical particle counting sensor. The proposed method is based on the Infotaxis odor source localization algorithm and makes multiple modifications to adapt it to particle plumes. In particular, we propose three simple but efficient ways to fuse multiple probability maps associated with various particle sizes and use the resulted integrated map to guide the robot’s movements. A refined measurement data collection is conducted in a wind tunnel to fit the particle plume model. The method with three proposed integration strategies is evaluated in simulation and in the wind tunnel emulating realistic environmental conditions in a repeatable fashion. In particular, we have investigated the impact of two environmental parameters - the wind speed and source release rate on the algorithm performance. The proposed algorithm with the weighted multi-modality map integration strategy outperforms the original Infotaxis and the other two variants. In high wind speed, the proposed algorithm is able on average to estimate the source location with less than 1 meter error in the 80 m2 wind tunnel arena.

  • Files
  • Details
  • Metrics
Type
research article
DOI
10.1109/JSEN.2020.3002273
Author(s)
Chen, Xinxing
Marjovi, Ali  
Huang, Jian
Martinoli, Alcherio  
Date Issued

2020

Published in
IEEE Sensors Journal
Volume

20

Issue

21

Start page

13074

End page

13085

Subjects

Particle source localization

•

Low-cost optical particle counter

•

Mobile robotics

•

Bayesian algorithm

•

Wind tunnel experiments

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
DISAL  
Available on Infoscience
September 11, 2020
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/171600
Logo EPFL, École polytechnique fédérale de Lausanne
  • Contact
  • infoscience@epfl.ch

  • Follow us on Facebook
  • Follow us on Instagram
  • Follow us on LinkedIn
  • Follow us on X
  • Follow us on Youtube
AccessibilityLegal noticePrivacy policyCookie settingsEnd User AgreementGet helpFeedback

Infoscience is a service managed and provided by the Library and IT Services of EPFL. © EPFL, tous droits réservés