| CPC F17D 5/02 (2013.01) [B64C 39/024 (2013.01); G05D 1/0202 (2013.01); G05D 1/101 (2013.01); G06N 7/01 (2023.01); B64U 2101/00 (2023.01)] | 17 Claims |
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1. A method, comprising:
providing a sensor attached to a vehicle;
controlling the vehicle to move toward a system;
using the sensor to sense data;
providing the sensed data to a detection module including computer-executable code stored in non-volatile memory;
controlling the sensor and the vehicle to perform a raster scan when the detection module detects a variation in the sensed data;
providing sensed raster scan data to the detection module;
using the detection module to generate a plurality of probability distribution curves based on the sensed raster scan data; and
using the detection module to generate a vector based on the plurality of probability distribution curves;
wherein the vector points to a location of the system;
wherein controlling the sensor and the vehicle to perform a raster scan includes controlling the sensor and the vehicle to perform a plurality of planar raster scans;
wherein the plurality of planar raster scans includes a first planar raster scan performed back and forth in a first plane, a second planar raster scan performed back and forth in a second plane that is different from the first plane, and a third planar raster scan that is performed back and forth in a third plane that is different from the first plane and from the second plane; and
identifying a first VOC maximum concentration based on the first planar raster scan, identifying a second VOC maximum concentration based on the second planar raster scan, identifying a third VOC maximum concentration based on the third planar raster scan, and spearing the vector through the first, second, and third VOC maximum concentrations.
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