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Experimental analysis of gas-sensitive Braitenberg vehicles
W.-Schickard-Inst. for Comp. Science, University of Tübingen, Tübingen, Germany. (Learning Systems Lab)ORCID iD: 0000-0003-0217-9326
Örebro University, Department of Technology. (Learning Systems Lab)
2004 (English)In: Advanced Robotics, ISSN 0169-1864, E-ISSN 1568-5535, Vol. 18, no 8, p. 817-834Article in journal (Refereed) Published
Abstract [en]

This article addresses the problem of localising a static gas source in an indoor environment by a mobile robot. In contrast to previous works, the environment is not artificially ventilated to produce a strong unidirectional airflow. Here, the dominant transport mechanisms of gas molecules are turbulence and convection flow rather than diffusion, which results in a patchy, chaotically fluctuating gas distribution. Two Braitenberg-type strategies (positive and negative tropotaxis) based on the instantaneously measured spatial concentration gradient were investigated. Both strategies were shown to be of potential use for gas source localisation. As a possible solution to the problem of gas source declaration (the task of determining with certainty that the gas source has been found), an indirect localisation strategy based on exploration and concentration peak avoidance is suggested. Here, a gas source is located by exploiting the fact that local concentration maxima occur more frequently near the gas source compared to distant regions

Place, publisher, year, edition, pages
Oxfordshire, United Kingdom: Taylor & Francis, 2004. Vol. 18, no 8, p. 817-834
Keywords [en]
Gas-sensitive mobile robot, gas source localization, turbulent gas distribution, Braitenberg vehicle
National Category
Computer Sciences
Research subject
Computer Science; Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3519DOI: 10.1163/1568553041738103ISI: 000224766600005Scopus ID: 2-s2.0-6344237434OAI: oai:DiVA.org:oru-3519DiVA, id: diva2:137816
Conference
11th International Conference on Advanced Robotics (ICAR 2003), Coimbra, Portugal, Jun. 20-Jul 3, 2003
Available from: 2007-07-22 Created: 2007-07-22 Last updated: 2018-04-24Bibliographically approved

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Lilienthal, Achim J.Duckett, Tom

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