SPIRAL: A novel biologically-inspired algorithm for gas/odor source localization in an indoor environment with no strong airflow

Authors:
Gabriele Ferri;Emanuele Caselli;Virgilio Mattoli;Alessio Mondini;Barbara Mazzolai;Paolo Dario
Affiliations:
BioRobotic Engineering School, IMT Lucca Institute for Advanced Studies, Piazza San Ponziano 6, 55110 Lucca, Italy and CRIM Laboratory, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025 ...;BioRobotic Engineering School, IMT Lucca Institute for Advanced Studies, Piazza San Ponziano 6, 55110 Lucca, Italy and CRIM Laboratory, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025 ...;CRIM Laboratory, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025 Pontedera (Pisa), Italy;CRIM Laboratory, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025 Pontedera (Pisa), Italy;CRIM Laboratory, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025 Pontedera (Pisa), Italy;CRIM Laboratory, Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, 56025 Pontedera (Pisa), Italy
Venue:
Robotics and Autonomous Systems
Year:
2009

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Abstract

This work describes the design and experimental results of an algorithm, designed to localize a gas source in an indoor environment with no strong airflow by using an autonomous agent. This condition exacerbates the patchiness and intermittency of odor distribution, typical of turbulent flows in the presence of strong mean flows. Furthermore, no information about the wind can be used to detect the position of the source. In the approach proposed here, the robot moves along spirals. A spiral can be reset and a new one started, based on the information acquired about gas distribution. This enables the robot to get close to the ejecting source, without relying on airflow measurements. Results from experiments are also described and discussed, to assess the efficiency of the proposed method.