SPIRAL: A novel biologically-inspired algorithm for gas/odor source localization in an indoor environment with no strong airflow |
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| Authors: | Gabriele Ferri Emanuele Caselli Virgilio Mattoli Alessio Mondini Barbara Mazzolai Paolo Dario |
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| Affiliation: | 1. BioRobotic Engineering School, IMT Lucca Institute for Advanced Studies, Piazza San Ponziano 6, 55110 Lucca, Italy;2. CRIM Laboratory, Scuola Superiore Sant’Anna, Viale Rinaldo Piaggio 34, 56025 Pontedera (Pisa), Italy;1. Center for Robotics and Intelligent Systems, Tecnológico de Monterrey, Monterrey, N.L., Mexico;2. EvoVisión Group, Applied Physics Division, CICESE, Ensenada, B.C., Mexico;1. Institute for Bioengineering of Catalonia (IBEC), The Barcelona Institute of Science and Technology, Baldiri Reixac 10-12, 08028, Barcelona, Spain;2. Department of Electronics and Biomedical Engineering, Universitat de Barcelona, Marti i Franqués 1, 08028, Barcelona, Spain;1. School of Information and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China;2. Department of Mechanical and Electrical Engineering, Xuzhou Institute of Technology, Xuzhou 221111, China |
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| Abstract: | This work describes the design and experimental results of an algorithm, designed to localize a gas source in an indoor environment with no strong airflow by using an autonomous agent. This condition exacerbates the patchiness and intermittency of odor distribution, typical of turbulent flows in the presence of strong mean flows. Furthermore, no information about the wind can be used to detect the position of the source. In the approach proposed here, the robot moves along spirals. A spiral can be reset and a new one started, based on the information acquired about gas distribution. This enables the robot to get close to the ejecting source, without relying on airflow measurements. Results from experiments are also described and discussed, to assess the efficiency of the proposed method. |
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