Chemical Plume Source Localization

  • Authors:

  • Shuo Pang;J. A. Farrell

  • Affiliations:

  • Dept. of Electr. Eng., California Univ., Riverside, CA;-

  • Venue:
  • IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
  • Year:
  • 2006

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Abstract

This paper addresses the problem of estimating a likelihood map for the location of the source of a chemical plume using an autonomous vehicle as a sensor probe in a fluid flow. The fluid flow is assumed to have a high Reynolds number. Therefore, the dispersion of the chemical is dominated by turbulence, resulting in an intermittent chemical signal. The vehicle is capable of detecting above-threshold chemical concentration and sensing the fluid flow velocity at the vehicle location. This paper reviews instances of biological plume tracing and reviews previous strategies for a vehicle-based plume tracing. The main contribution is a new source-likelihood mapping approach based on Bayesian inference methods. Using this Bayesian methodology, the source-likelihood map is propagated through time and updated in response to both detection and nondetection events. Examples are included that use data from in-water testing to compare the mapping approach derived herein with the map derived using a previously existing technique