Tracking an Odor Plume in a Laminar Wind Field with the Crosswind-Surge Algorithm

摘要

Summary. We introduce a novel bio-inspired odor source localization algorithm (surge-cast) for environments with a main wind \now and compare it to two well-known algorithms. With all three algorithms, systematic experiments with real robots are carried out in a wind tunnel under laminar \now conditions. The algo-rithms are compared in terms of distance overhead when tracking the plume up to the source, but a variety of other experimentally measured results are provided as well. We conclude that the surge-cast algorithm yields signicantly better performance than the casting algorithm, and slightly better performance than the surge-spiral algorithm. 1