Theoretical analysis of three bio-inspired plume tracking algorithms

Author

Lochmatter, Thomas ; Martinoli, Alcherio

fYear

2009

fDate

12-17 May 2009

Firstpage

2661

Lastpage

2668

Abstract

We derive the theoretical performance of three bio-inspired odor source localization algorithms (casting, surge-spiral and surge-cast) in laminar wind flow. Based on the geometry of the trajectories and the wind direction sensor error, we calculate the distribution of the distance overhead and the mean success rate using Bayes inference. Our approach is related to particle filtering and produces smooth output distributions. The results are compared to existing real-robot and simulation results, and a good match is observed.

Keywords

Bayes methods; biosensors; chemical engineering computing; chemical sensors; chemical variables control; control engineering computing; inference mechanisms; robots; Bayes inference; bio-inspired plume tracking algorithms; casting; laminar wind flow; odor source localization algorithms; particle filtering; real-robot; surge-cast; surge-spiral; wind direction sensor error; Algorithm design and analysis; Biosensors; Casting; Computational geometry; Inference algorithms; Performance analysis; Robot sensing systems; Robotics and automation; Service robots; Surges;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2009. ICRA '09. IEEE International Conference on

Conference_Location

Kobe

ISSN

1050-4729

Print_ISBN

978-1-4244-2788-8

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2009.5152686

Filename

5152686