NDLI: Simulated odor tracking in a plane normal to the wind direction

Content Provider	IEEE Xplore Digital Library
Author	Rutkowski, A.J. Willis, M.A. Quinn, R.D.
Copyright Year	2006
Description	Author affiliation: Dept. of Mechanical & Aerosp. Eng., Case Western Reserve Univ., Cleveland, OH (Rutkowski, A.J.)
Abstract	A new strategy is developed for tracking an odor plume in an environment where wind is present. The strategy is inspired by the mechanisms that animals use to orient to stimuli. A male moth counter-turns horizontally and vertically across the wind while tracking a pheromone plume. The inter-turn duration, or the amount of time between turns, is about 500 milliseconds on average in both directions. This observation has lead to the development of odor tracking algorithms that use inter-turn timers to control when to turn in both directions. The algorithm presented in this work takes a different approach. The new algorithm controls the rate of turning of the tracking vehicle in a plane normal to the wind direction. Simulation results demonstrate that counter-turning can be achieved in both directions without the use of inter-turn timers. Also, the estimated odor source location approaches the true source location as time progresses
Sponsorship	IEEE Robotics and Autom. Soc
Starting Page	2047
Ending Page	2052
File Size	1927565
Page Count	6
File Format	PDF
ISBN	0780395050
ISSN	10504729
DOI	10.1109/ROBOT.2006.1642006
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Animals Turning Position measurement Land vehicles Road vehicles Biological system modeling Aerospace engineering Biology Robot sensing systems Sensor systems and applications
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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