Summary
We introduce a novel bio-inspired odor source localization algorithm (surge-cast) for environments with a main wind flow and compare it to two well-known algorithms. With all three algorithms, systematic experiments with real robots are carried out in a wind tunnel under laminar flow conditions. The algorithms are compared in terms of distance overhead when tracking the plume up to the source, but a variety of other experimentally measured results are provided as well. We conclude that the surge-cast algorithm yields significantly better performance than the casting algorithm, and slightly better performance than the surge-spiral algorithm.
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Lochmatter, T., Martinoli, A. (2009). Tracking Odor Plumes in a Laminar Wind Field with Bio-inspired Algorithms. In: Khatib, O., Kumar, V., Pappas, G.J. (eds) Experimental Robotics. Springer Tracts in Advanced Robotics, vol 54. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-00196-3_54
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DOI: https://doi.org/10.1007/978-3-642-00196-3_54
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