Estimation of a Plume with an Unmanned Terrestrial Vehicle
PublicThis work involves the design and implementation of a gas-sensing mobile robot as an experimental tool to localize a carbon dioxide source. The autonomous robot achieves navigation through an embedded microcontroller using a strap-down accelerometer and a fusion of four CO2 sensors. A mass flow controller and diffuser are used to dependably generate a plume that simulates a point source. A base station receives sensor data and calculates the robotÂ’s position using the accelerometer data filtered using a low pass filter followed an Extended Kalman Filter. This method has applicability for unmanned vehicles tracking emissions of contaminants and their effects in the environment.
- This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.
- Creator
- Publisher
- Identifier
- E-project-032018-145855
- Advisor
- Year
- 2018
- Date created
- 2018-03-20
- Resource type
- Major
- Rights statement
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