Olfaction-based mobile robot navigation

Abstract

It is well known that insects and other animals use olfactory senses in a wide variety of behavioural processes, namely to recognize and locate food sources, detect predators, and find mates. This article discusses the gathering of olfactive information and its utilization by a mobile robot to find a specific odour source in a room with turbulent phenomena's and multiple sources of odour. Three navigation algorithms are compared with a simple gas sensor and with an electronic nose. Their performance in finding an ethanol source in a room with obstacles is evaluated. The first navigation strategy is based on bacteria chemotaxis. The second strategy is based on the male silkworm moth algorithm that is used to search and track a female moth pheromone plume. The last strategy is based on the estimation of odour geometry and gradient tracking. The electronic nose utilized is composed by an array of different and weakly selective metal oxide gas sensors. The odours are identified and quantified by a pattern recognition algorithm based on an artificial neural network. The test bed for the navigation algorithms was a Nomad Super Scout II mobile robot.