Dangerous gas traceability route planning for Four- rotor UAV based on the weighted centroid method

In the face of gas leakage, this paper proposes a positioning algorithm for mobile detectors, turning the three-dimensional gas traceability problem into a two-dimensional problem. The detector is fixed on mobile drones, and the immersion sensor is used to get the dangerous gas concentration value. Based on the weighted centroid method, the four-rotor UAV, immersion sensor and Gaussian plume model, the theoretical derivation and simulation of the positioning algorithm are carried out in this paper.