Implementation of Behaviour Based Robot with Sense of Smell and Sight

摘要

Mobile olfaction and odour source localisation has become a noticeable research field in recent years. Current developments in mobile robots and the dynamic nature of environments that the robot performs its tasks have increased robot's computation requirements. Behaviour based robot has been lauded to be robust and cost effective to counter the earlier mentioned problems. Experiments leading to the implementation of our behaviour based robot in this paper were done on our integrated testbed built specifically for mobile olfaction related experiments. The functionality and advantages of using the testbed were highlighted. Furthermore, various mapping techniques were implemented for both single and multiple robot system which has the potential to aid odour source localisation task carried by the robot. Finally, a simple behaviour based approach was implemented on a robot with sense of smell and sight in dynamic conditions to evade the time-consuming and rigidity of algorithm based approach. The enhancements of this approach on the different odour source localisation task were highlighted. A Braitenberg vehicle was implemented for odour source localisation.