NDLI: Odor-source searching using a mobile robot in time-variant airflow environments with obstacles

Content Provider	IEEE Xplore Digital Library
Author	Li Ji-Gong Yang Jing Liu Jia Lu Guang-Da Yang Li
Copyright Year	2014
Description	Author affiliation: Sch. of Inf. Technol. Eng., Tianjin Univ. of Technol. & Educ., Tianjin, China (Yang Jing) \|\| Sch. of Autom. & Electr. Eng., Tianjin Univ. of Technol. & Educ., Tianjin, China (Li Ji-Gong; Liu Jia; Lu Guang-Da; Yang Li)
Abstract	A new path planning method for a mobile robot to search for an odor source in time-variant airflow environments with obstacles has been developed and implemented. The proposed method subsequently employs a three-stage process in order to plan a desired path for the robot to find the odor source and avoid collisions with obstacles in search area. In the first stage, when an odor clue is found by the mobile robot, an odor-patch path, indicating where the detected odor patch came from, is estimated based on the airflow velocities recorded by the robot. And then, a search route is planned for the robot to find the odor source based on the estimated odor-patch path and the recent airflow directions. In the third stage, when obstacles are detected by the robot, the planned search route will be modified with range data sampled by on-board range sensors. The proposed method has a low computational cost, thus it can be used in online applications. The simulations in time-variant airflow environments show that the robot has a purposeful odor-source search behavior in clustered obstacles.
Starting Page	8559
Ending Page	8564
File Size	209032
Page Count	6
File Format	PDF
ISBN	9789881563873
ISSN	19341768
DOI	10.1109/ChiCC.2014.6896437
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	TCCT, CAA
Subject Keyword	obstacle avoidance Robot kinematics Atmospheric modeling odor-patch path Robot sensing systems Mobile robots Mobile robot Collision avoidance odor source localization
Content Type	Text
Resource Type	Article

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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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