Mobile robot navigation using vision and olfaction to search for a gas/odor source

Authors:
Hiroshi Ishida;Hidenao Tanaka;Haruki Taniguchi;Toyosaka Moriizumi
Affiliations:
Aff1 Aff2;Department of Physical Electronics, Tokyo Institute of Technology, Tokyo, Japan 152-8552;Department of Physical Electronics, Tokyo Institute of Technology, Tokyo, Japan 152-8552;Department of Physical Electronics, Tokyo Institute of Technology, Tokyo, Japan 152-8552
Venue:
Autonomous Robots
Year:
2006

Citing 0
Cited 8

Robot Odor Localization: A Taxonomy and Survey

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

Robotics and Autonomous Systems
Mobile robots with active IR-optical sensing for remote gas detection and source localization

ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Bi-directional pheromone communication between robots

Robotica
Multiple robots plume-tracing in open space obstructed environments

ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Mapping multiple gas/odor sources in an uncontrolled indoor environment using a Bayesian occupancy grid mapping based method

Robotics and Autonomous Systems
Optimal spatial formation of swarm robotic gas sensors in odor plume finding

Autonomous Robots
Intensity-based navigation with global guarantees

Autonomous Robots

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper presents a new approach to search for a gas/odor source using an autonomous mobile robot. The robot is equipped with a CMOS camera, gas sensors, and airflow sensors. When no gas is present, the robot looks for a salient object in the camera image. The robot approaches any object found in the field of view, and checks it with the gas sensors to see if the object is releasing gas. On the other hand, if the robot detects the presence of gas while wandering around the area, it turns toward the direction of the wind that carries the gas. The robot then looks for any visible object in that direction. These navigation strategies are implemented into the robot under the framework of the behavior-based subsumption architecture. Experimental results on the search for a leaking bottle in an indoor environment are presented to demonstrate the validity of the navigation strategies.