Validation of an Odor Source Identification Algorithm via an Underwater Vehicle

This paper systemically discusses a procedure for evaluating and validating an odor source identification algorithm derived from moth-inspired plume tracing strategies. We evaluate and validate the proposed source identification algorithm as follows. First, we identify the source of a virtual chemical plume with significant filament intermittency and meander via a simulated underwater vehicle. Second, we validate the source identification algorithm using the virtual chemical plume and a real underwater vehicle in a swimming pool. Finally, we run in-water tests to trace a Rhodamine dye plume developed in near-shore ocean environments characterized by turbulence, tides and waves, and to identify its source via the underwater vehicle at Da Lian Bay in China.