Underground Odor Source Localization Based on a Variation of Lower Organism Search Behavior

Abstract

The problem of locating points of chemical contamination owing to leakage from underground pipelines is herein analyzed from the perspective of the odor-based search strategies of several lower organisms when searching for mates, i.e., a zigzag strategy. A conventional zigzag strategy employs a constant turning angle. This paper proposes an improved strategy employing a variable turning angle that is adjusted according to well-defined stages of the search process. Computer simulations verify the effectiveness and efficiency of the proposed stage-wise strategy. The presented strategy is applicable to locating underground odor sources using mobile robots with olfactory sensors.