Tracking Odor Plumes in a Laminar Wind Field with Bio-Inspired Algorithms

• Presented at: 11th International Symposium on Experimental Robotics 2008 (ISER 2008), Athens, Greece, July 14-17, 2008
• : Springer, 2009

We introduce a novel bio-inspired odor source localization algorithm (surge- cast) for environments with a main wind flow and compare it to two well-known algorithms. With all three algorithms, systematic experiments with real robots are carried out in a wind tunnel under laminar flow conditions. The algorithms are compared in terms of distance overhead when tracking the plume up to the source, but a variety of other experimental results and some theoretical considerations are provided as well. We conclude that the surge-cast algorithm yields significantly better performance than the casting algorithm, and slightly better performance than the surge-spiral algorithm.

Keywords: Odor Source Localization ; Khepera III ; Wind Tunnel ; Chemical sensor ; NCCR-MICS ; NCCR-MICS/CL2

Reference

• SWIS-CONF-2008-019
• doi:10.1007/978-3-642-00196-3_54
• View record in Web of Science

• URL: http://iser08.grasp.upenn.edu/~graspweb/dynamic/iser08/

Record created on 2008-05-29, modified on 2012-05-01