A Comparison of Casting and Spiraling Algorithms for Odor Source Localization in Laminar Flow
We compare two well-known algorithms for locating odor sources in environments with a main wind flow. Their plume tracking performance is tested through systematic experiments with real robots in a wind tunnel under laminar flow condition. We present the system setup and show the wind and odor profiles. The results are then compared in terms of time and distance to reach the source, as well as speed in upwind direction. We conclude that the spiral- surge algorithm yields significantly better results than the casting algorithm, and discuss possible rationales behind this performance difference.
WOS:000258095000180
2008
1138
1143
NCCR-MICS NCCR-MICS/CL2
REVIEWED
EPFL
| Event name | Event place | Event date |
Pasadena, California | May 19-23, 2008 | |