Olfaction Threshold-Based Thought of Micro-Steps Accumulation and Its Application on Odor Source Search

摘要

For task of searching for underground odor source by autonomous mobile robot with gas sensor on ground, the behavior of lower organism's looking for mates was analyzed. After realizing the limitation of olfaction organ and the action mechanism of odor concentration on olfaction organ, the idea of step-size basing upon the resolution power of gas sensor emerged. Furthermore, the thought of accumulation of micro steps was proposed. Computer simulation proved that search travel strictly determined by accumulated micro moves is effective. The thought of accumulation was embedded in classical zigzag-path algorithm and hexagon-path algorithm. Simulation proved that the new zigzag-path algorithm is effective and the new hexagon-path algorithm is even better. Both new algorithms were proved having good functions. The two algorithms embedded the thought of accumulation of micro steps can avoid some intrinsic defects of real gas sensors and difficulty of selecting the size of steps. They are also fit for applying in mobile robot with gas sensor to search for underground odor source. In one word, new method achieves two things at one stroke.