Achim Lilienthal and Tom Duckett
Approaches to Gas Source Tracing and Declaration by Pure Chemo-Tropotaxis
In Proceedings of AMS 2003, 18. Fachgespräch, Karlsruhe, 4./5. Dezember 2003, pp. 161-171
Abstract
This paper addresses
the problem of localising a static gas source
in an uncontrolled indoor environment by a mobile robot.
In contrast to previous works,
especially the condition
of an environment that is not artificially ventilated
to produce a strong unidirectional airflow
is considered.
Here,
the propagation of the analyte molecules
is dominated by turbulence and convection flow
rather than diffusion,
thus creating a patchy distribution of
spatially distributed eddies.
Positive and negative tropotaxis,
based on the spatial concentration gradient
measured by a pair of electrochemical gas sensor arrays,
were investigated.
Both strategies were implemented
utilising a direct
sensor-motor coupling
(a Braitenberg vehicle)
and were shown to be useful to accomplish the gas source localisation task.
As a possible solution to the problem of gas source declaration
(the task of determining with certainty that the gas source has been found),
an indirect localisation strategy
based on exploration and concentration peak avoidance
is suggested.
Here,
a gas source
is located by
exploiting the fact
that local concentration maxima
occur more frequently
near the gas source
compared to distant regions.
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Bibtex
@INPROCEEDINGS{Lilienthal:2003f,
AUTHOR = "Achim Lilienthal and Tom Duckett",
TITLE = "An Approach to Gas Source Localisation and Declaration by Pure Chemo-Tropotaxis",
BOOKTITLE = "Autonome Mobile Systeme (AMS), 18. Fachgespr{\"a}ch, Karlsruhe, 4. - 5. December",
YEAR = "2003",
EDITOR = "Informatik aktuell",
PAGES = "161--171",
PUBLISHER = "GDI",
ADDRESS = "Stuttgart, Germany"
}