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

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.


Published in:
54, 473-482
Presented at:
11th International Symposium on Experimental Robotics 2008 (ISER 2008), Athens, Greece, July 14-17, 2008
Year:
2009
Publisher:
Springer
Keywords:
Laboratories:




 Record created 2008-05-29, last modified 2018-09-13

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