Odor Sensor Requirements for an Insect Inspired Plume Tracking Mobile Robot

摘要

The ability of insects to track chemical plumes far outstrips the capabilities of current plume tracking robots. Replication of insect plume tracking behaviour on a mobile robot would allow it to efficiently perform a variety of useful tasks. This study examines the chemical sensing requirements of such a robot. Initially the problem of tracking a plume to its source and the chemical sensing capabilities of insects are examined. The current range of chemical sensors available for use in mobile robotics is then outlined, along with another alternative to chemical sensing, the ion sensor. An ion sensor was chosen for use in place of a chemical sensor in this project to allow an insect inspired plume tracking algorithm to be implemented with a response time similar to an insects. An insect inspired algorithm has been successfully tested on a mobile robot capable of sensing the wind speed and direction and the level of ions at a point. The success of the algorithm shows that with the development of appropriate chemical sensors this (and other insect inspired algorithms) may be widely applicable, creating efficient plume tracking mobile robots.