Estimating gas-source location in outdoor environment using mobile robot equipped with gas sensors and anemometer

This paper investigates the applicability of a gas-source localization method in outdoor environment. In the proposed method, a mobile robot is used to scan the area under consideration and to collect data on gas concentration and airflow velocity at various locations. The location of the gas source is estimated by applying a turbulent diffusion model of a gas plume to the data obtained by partial observation of the gas distribution in the given area. Discussion is made on the adjustment of the turbulent diffusion coefficient in the plume model to achieve successful estimation under various airflow conditions.