Modified Simple Chemical Plume Tracing Algorithm

摘要

Abstract A simple chemical plume tracing algorithm has been modified and presented in this paper. This algorithm traces the plume based on maximum concentration of chemical/odor cues received by simulated omnidirectional gas sensors. Herein it is proposed to place the sensors in two different arrangements to facilitate the functioning of algorithm. These arrangements of sensors are namely, circular (rosette) type and rectangular, have been proposed to explore its effect on success rate of algorithm. A differential drive mobile robot has been considered around which these sensors are placed to trace the plume. Arena in which plume tracing algorithm has been implemented is a simulated environment based on time averaged Gaussian plume model. Variable wind conditions have been generated to validate the implementation of algorithm. In addition to success rate, number of steps taken to reach the source is taken as an underlying factor of performance measure.