Active Localization of Gas Leaks Using Fluid Simulation
Active Localization of Gas Leaks Using Fluid Simulation
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DOI：
10.1109/lra.2019.2895820
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发表时间：
2019-01
影响因子：
5.2
通讯作者：
Martin Asenov;M. Rutkauskas;D. Reid;Kartic Subr;S. Ramamoorthy
中科院分区：
文献类型：
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作者：
Martin Asenov;M. Rutkauskas;D. Reid;Kartic Subr;S. Ramamoorthy
传感器通常安装在机器人上，以获取时空场中各种形式的测量结果。在资源有限的情况下，例如在尝试通过少量测量来定位气体泄漏源时，定位这些区域内的特征以及密集区域的重建（绘图）可能具有挑战性。在这种情况下，可以利用潜在的复杂动态模型来发现该领域内的信息路径。我们使用流体模拟器作为模型来指导气体泄漏位置的推断。我们通过最小化观测到的测量值与模拟器预测的气体浓度之间的差异来执行定位。我们的方法能够考虑动态变化的风流参数（例如方向和强度）及其对观察到的气体分布的影响。我们开发用于离线推理以及通过主动传感进行在线路径发现的算法。我们通过在室外环境中进行的物理机器人实验来证明我们算法的效率、准确性和多功能性。我们部署了一架安装有 CO$_2$ 传感器的无人机，以自动寻找通过喷嘴排放 CO$_2$ 的气瓶。我们通过测量喷嘴推断位置的误差来评估我们算法的准确性，基于此我们表明我们提出的方法相对于最先进的基线具有竞争力。
Sensors are routinely mounted on robots to acquire various forms of measurements in spatiotemporal fields. Locating features within these fields and reconstruction (mapping) of the dense fields can be challenging in resource-constrained situations, such as when trying to locate the source of a gas leak from a small number of measurements. In such cases, a model of the underlying complex dynamics can be exploited to discover informative paths within the field. We use a fluid simulator as a model to guide inference for the location of a gas leak. We perform localization via minimization of the discrepancy between observed measurements and gas concentrations predicted by the simulator. Our method is able to account for dynamically varying parameters of wind flow (e.g., direction and strength) and its effects on the observed distribution of gas. We develop algorithms for offline inference as well as for online path discovery via active sensing. We demonstrate the efficiency, accuracy, and versatility of our algorithm using experiments with a physical robot conducted in outdoor environments. We deploy an unmanned air vehicle mounted with a CO$_2$ sensor to automatically seek out a gas cylinder emitting CO$_2$ via a nozzle. We evaluate the accuracy of our algorithm by measuring the error in the inferred location of the nozzle, based on which we show that our proposed approach is competitive with respect to state-of-the-art baselines.