부산대학교 도서관

Unmanned Aerial Vehicles (UAVs) are highly manoeuvrable platforms that are becoming popular to map and localise the source of chemical substances in the environment. However, their propellers disturb the environment and may seriously impact the measurements and the expected results in such applications. Some works have already addressed this problem, but only for specific cases and proposing different solutions about the best way to mitigate this problem. This work studies the impact of propellers for multiple sensor positions and 3 UAVs of different sizes, in an Odour Source Localisation (OSL) problem under field conditions and compares the results with a non-disturbing setup. The experiments show a significant impact on the measured signals from asymmetrical frames and from the motion of the agent, with the best results achieved from sensors acquiring data on intake air regions.