Title :
Theoretical analysis of three bio-inspired plume tracking algorithms
Author :
Lochmatter, Thomas ; Martinoli, Alcherio
Abstract :
We derive the theoretical performance of three bio-inspired odor source localization algorithms (casting, surge-spiral and surge-cast) in laminar wind flow. Based on the geometry of the trajectories and the wind direction sensor error, we calculate the distribution of the distance overhead and the mean success rate using Bayes inference. Our approach is related to particle filtering and produces smooth output distributions. The results are compared to existing real-robot and simulation results, and a good match is observed.
Keywords :
Bayes methods; biosensors; chemical engineering computing; chemical sensors; chemical variables control; control engineering computing; inference mechanisms; robots; Bayes inference; bio-inspired plume tracking algorithms; casting; laminar wind flow; odor source localization algorithms; particle filtering; real-robot; surge-cast; surge-spiral; wind direction sensor error; Algorithm design and analysis; Biosensors; Casting; Computational geometry; Inference algorithms; Performance analysis; Robot sensing systems; Robotics and automation; Service robots; Surges;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152686
