Odor-source Localization In Clean Room By Autonomous Mobile Sensing System

Experiments of odor-source localization were performed a clean room using an autonomous mobile system. A new exploratory algorithm was developed since the algorithm of upwind searching previously developed by our group was found applicable only in a limited situation. The switchover of two strategies, moving upwind and along the gas-concentration gradient, was introduced. A threshold value of the gas sensor response used for exchanging two strategies was automatically adjusted during localization movements. As the flexibility of the system was enhanced, an ethanol source was successfully localized from almost anywhere in the prepared measurement space.