Simulation study on robot active olfaction based on concentration and equilateral triangle search

An active olfaction implementation scheme based on concentration and equilateral triangle search is put forward in this article. Firstly, a time-variant airflow environment using Fluent software is set up. Secondly, the new active olfaction implementation procedure in the simulated environment is presented, including plume finding, plume tracking and odor source declaration. In order to search the odor source, the robot has to be controlled to turn all kinds of any possible different angles during its navigation. But it is not easy to practice that. Equilateral triangle search could permit the robot only turning 30 degree and its multiple degrees. Simulation results confirmed that the proposed search scheme was valid and effective.