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This paper addresses the problem of estimating the odor path which is most likely taken by the odor patch detected by the concentration sensor on a mobile robot moving in an indoor dynamic airflow environment. The odor path estimation is useful for plume tracing and odor source declaration. A novel algorithm for odor path likelihood mapping in the dynamic(More)
The odor source localization using a mobile robot in time-variant airflow-field environment is considered. A novel estimation-based plume tracing method is proposed in this paper. Based on the odor-patch path estimated by the flow information when odor clues are found, a searching route is planned for the mobile robot to trace the plume. To have fair and(More)
This paper addresses the problem of single odor source declaration in outdoor time-variant airflow environments using a mobile robot. The airflow velocity (including the magnitude and direction) changes fast in outdoor environments, so it is not easy to determine whether a possible source is the true source or not. To identify the possible source under the(More)
A bionic plume tracing method named the Surge-S algorithm is proposed for robot odor source localization problems in outdoor time-varying airflow environment. The rapid change of wind direction in the outdoor environment leads to a fact that the odor plume released from the odor source are changing quickly, winding and intermittent. In this case, the robot(More)
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