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Gas Source Tracing with a Mobile Robot Using an Adapted Moth Strategy

  • Conference paper
Autonome Mobile Systeme 2003

Part of the book series: Informatik aktuell ((INFORMAT))

Abstract

As a sub-task of the general gas source localisation problem, gas souree tracing is supposed to guide a gas-sensitive mobile system towards a souree 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 Bambyx mori, the implemented behaviour consists of a fixed motion pattern that realises a local search, and a meehanism that (re-)starts this motion pattern if an increased gas concentration is sensed. While the moth uses the local airftow direction to orient the motion pattern, this is not possible for a mobile robot due to the detection limits of eurrently 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 souree and to keep it within close proximity of the source.

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Author information

Authors and Affiliations

  1. WSI, University of Tübingen, Sand 1, 72074, Tübingen, Germany

    Achim Lilienthal, Denis Reimann & Andreas Zell

Authors
  1. Achim Lilienthal
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  2. Denis Reimann
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  3. Andreas Zell
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Editor information

Editors and Affiliations

  1. Lehrstuhl für Industrielle Anwendungen der Informatik und Mikrosystemtechnik (IAIM), Technologiefabrik Universität Karlsruhe(TH), Haid-und-Neu-Str. 7, 76131, Karlsruhe, Germany

    Rüdiger Dillmann  & Tilo Gockel  & 

  2. Institut für Prozessrechentechnik, Automation und Robotik (IPR), Geb. 40.28, Universität Karlsruhe (TH), 76128, Karlsruhe, Germany

    Heinz Wörn

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© 2003 Springer-Verlag Berlin Heidelberg

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Lilienthal, A., Reimann, D., Zell, A. (2003). Gas Source Tracing with a Mobile Robot Using an Adapted Moth Strategy. In: Dillmann, R., Wörn, H., Gockel, T. (eds) Autonome Mobile Systeme 2003. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-18986-9_16

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  • DOI: https://doi.org/10.1007/978-3-642-18986-9_16

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-20142-7

  • Online ISBN: 978-3-642-18986-9

  • eBook Packages: Springer Book Archive

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