Publication

Localizing an Odor Source and Avoiding Obstacles: Experiments in a Wind Tunnel using Real Robots

Alcherio Martinoli
2009
Conference Papers

Abstract

We report on real-robot odor source localization experiments carried out in an environment with obstacles in the odor plume. The robot was equipped with an ethanol sensor and a wind direction sensor, and the experiments were carried out in a wind tunnel, i.e. in a controlled environment. An enhanced version of the surge-spiral algorithm was used, which was augmented with a dedicate behavior to manage obstacles (avoid them, or follow their contour). We compare the results in terms of distance overhead and success rate, and discuss the impact of obstacles on plume traversal.

Official source

https://infoscience.epfl.ch/entities/publication/dd7b32fa-46e7-4341-a0d2-0b8b343bd821

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Alcherio Martinoli
2009
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/dd7b32fa-46e7-4341-a0d2-0b8b343bd821

About this result

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Localizing an Odor Source and Avoiding Obstacles: Experiments in a Wind Tunnel using Real Robots

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