Three-dimensional gas distribution mapping with a micro-drone

This paper presents the methods and experiment results of three-dimensional gas distribution mapping with a micro-drone. With the 3D Kernel DM (kernel extrapolation distribution mapping) algorithm implemented into the micro-drone's onboard computer, the gas distribution map is real-time updated when the micro-drone flies along predefined sweeping path to traverse the search area in outdoor environments. Results show that the concentration grid map obtained can represent the real gas distribution in a certain extent, and demonstrate that gas distribution mapping with a micro-drone is applicable in the realistic scenarios.