Odor Source Localization Research of Mobile Robots in Indoor Environments

Abstract:

Aiming at the odor source localization in an obstacle-filled wind-varying indoor environment, a new method based odor source localization algorithm for a single mobile robot is proposed. With the information of the wind and the concentration gradient, Wasps can find odor source in a short time. However, it is very difficult for mobile robots to mimic the behaviors of wasps exactly. So, besides the bionics, BP neural network is adopted for the mobile robot to find the odor source. The control strategies for the plume-tracing mobile robot are proposed which include the intelligent plume-tracing algorithm and the collision avoidance algorithm based on improved potential grid method. The algorithms were integrated to control the robot trace plumes in obstructed indoor environments. Experimental results have demonstrated the capability of this kind of plume-tracing mobile robot.

• Periodical: Applied Mechanics and Materials (Volume 441)
• Pages: 796-800
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.441.796
• Online since: December 2013
• Authors: Chun Shu Li, Zhi Hua Yang, Gen Qun Cui, Bo Jin
• Keywords: Mobile Robot, Neural Network (NN), Odor Source Localization, Potential Grid Method

References

[1] H. Ishida,T. Nakamoto, T. Moriizumi. Fundamental, Study of mobile system for smelling-object localization using plural gas sensor, IEEE Industrial Electrics Society, 1993: 767~768.

[2] H. Ishida and K. Suetsugu, Study of autonomous mobile sensing for localization of odor sourece using gas sensors and anemometric sensors, Sensors and actuators.A. 1994, 45(2) 153~157.

DOI: 10.1016/0924-4247(94)00829-9

[3] H. Ishida, G, Hakayama, T. Nakamoto and T. Moriizumi, Controlling a gas plume-tracing robot based on transient responses of gas sensors, IEEE, 2002: 1665~1760.

DOI: 10.1109/icsens.2002.1037374

[4] H. Ishida, H. Tanaka, H. Taniguchi and T. Moriizumi, Mobile robot navigation using vision and olfaction to search for a gas/odor source, Autonomous Robot. 2006, 20(3): 231~238.

DOI: 10.1007/s10514-006-7100-5

[5] R. Russell, D. Thiel and A. Mackay-Sim, Sensing odor trails for mobile robot navigation, IEEE International Conference on Robotics and Automation, 1994: 2672~2677.

DOI: 10.1109/robot.1994.351111

[6] R. Russell, D. Thiel, R. Deveza, A. Mackay-Sim, A robotic system to locate hazardous chemical leaks, IEEE International Conference on Robotics and Automation, 1995: 556~561.

DOI: 10.1109/robot.1995.525342

[7] Zhenzhang Liu and Tien-Fu Lu, Odor source localization in complicated indoor environment., Int. J. Mechatronics and Manufacturing Systems, Vol. 2, Nos. 1/2, 2009, pp.168-186.

DOI: 10.1109/icarcv.2008.4795548

[8] Chunshu Li, Genqun Cui and Haifeng Lu. The Design of an Obstacle Avoiding Trajectory in Unknown Environment Using Potential Fields. Proceedings of the 2010 IEEE International Conference on Information and Automation June 20 - 23, Harbin, China., 2010, p.2050-(2053).

DOI: 10.1109/icinfa.2010.5512513