Achim Lilienthal, Denis Reiman and Andreas Zell
Gas Source Tracing With a Mobile Robot Using an Adapted Moth Strategy
In Proceedings of AMS 2003, 18. Fachgespräch, Karlsruhe, 4./5. Dezember 2003, pp. 150-160
Abstract
As a sub-task of the general gas source localisation problem,
gas source tracing
is supposed to guide a gas-sensitive mobile system
towards a source
by using the cues determined from the gas distribution sensed along a driven path.
This paper reports on an investigation
of a biologically inspired gas source tracing strategy.
Similar to the behaviour of the silkworm moth \emph{Bombyx mori},
the implemented behaviour consists of a fixed motion pattern
that realises a local search,
and a mechanism that (re-)starts this motion pattern
if an increased gas concentration is sensed.
While the moth uses the local airflow direction
to orient the motion pattern,
this is not possible for a mobile robot
due to the detection limits of currently available anemometers.
Thus,
an alternative method was implemented
that uses an asymmetric motion pattern,
which is biased towards the side where higher gas sensor readings were obtained.
The adaptated strategy was implemented and tested on an experimental platform.
This paper describes the strategy
and evaluates its performance
in terms of the ability
to drive the robot towards a gas source
and to keep it within close proximity of the source.
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Bibtex
@INPROCEEDINGS{Lilienthal:2003g,
AUTHOR = "Achim Lilienthal and Denis Reiman and Andreas Zell",
TITLE = "Gas Source Tracing With a Mobile Robot Using an Adapted Moth Strategy",
BOOKTITLE = "Autonome Mobile Systeme (AMS), 18. Fachgespr{\"a}ch, Karlsruhe, 4. - 5. December",
YEAR = "2003",
EDITOR = "Informatik aktuell",
PAGES = "150--160",
PUBLISHER = "GDI",
ADDRESS = "Stuttgart, Germany"
}