Multi-odor sources localization and tracking with wireless sensor network and mobile robots

摘要

Localizing and tracking multiple static/moving odors in a real-time manner is a very difficult problem in the field of security. In this paper a solution has been proposed for the problem by using the integration of mobile robots and a static wireless sensor network. A multi-odor recognition algorithm is designed to identify and separate various sources. The static odor localization and moving odor tracking approach is provided, and the interaction method among the robot team and sensor network is analyzed. This solution is capable of separating individual odor sources and estimating the positions and speeds of multi-odor sources. The traditional GPSR routing protocol is modified to improve the network transmission performance. Simulation results show that the solution has good localization and tracking ability, and can be applied to industry and military fields.