Tracking an Odor Plume in a Laminar Wind Field with the Crosswind-Surge Algorithm

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 algo- rithms are compared in terms of distance overhead when tracking the plume up to the source, but a variety of other experimentally measured results 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:
Proc. of the Eleventh Int. Symp. Experimental Robotics, 54, 473-482
Presented at:
Int. Symp. Experimental Robotics, Athens, Greece, July, 2008
Year:
2008
Laboratories:




 Record created 2011-05-27, last modified 2018-03-17

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