Toward Chemical-Trail Following Robots

Author

Sousa, Pedro ; Marques, Lino ; De Almeida, Anibal T.

Author_Institution

Inst. for Syst. & Robot., Univ. of Coimbra, Coimbra, Portugal

fYear

2008

fDate

11-13 Dec. 2008

Firstpage

489

Lastpage

494

Abstract

This paper presents new advances in the area of chemical trail following with mobile robots. For that purpose, the properties of chemical volatiles and their evaporation rates were tested in order to discover an appropriate candidate to mark chemical trails and at the same time with ability to be detected by the robot olfactory system along the time. The capability of chemical detection was provide by a metal oxide-based olfactory system, mounted in a Khepera III mobile robot. An algorithm to search and track chemical trails is proposed. This algorithm was validated by simulations and by laboratory tests with a Khepera III mobile robot.

Keywords

chemioception; electronic noses; mobile robots; tracking; Khepera III mobile robot; chemical detection; chemical trail detection; chemical volatile; gas sensor; metal oxide-based olfactory system; odour searching algorithm; tracking algorithm; Chemicals; Gas detectors; Laboratories; Machine learning; Mobile robots; Olfactory; Robot kinematics; Robot sensing systems; System testing; Tongue;

fLanguage

English

Publisher

ieee

Conference_Titel

Machine Learning and Applications, 2008. ICMLA '08. Seventh International Conference on

Conference_Location

San Diego, CA

Print_ISBN

978-0-7695-3495-4

Type

conf

DOI

10.1109/ICMLA.2008.133

Filename

4725018