Study of odor compass

Author

Ishida, Hiroshi ; Nakamoto, Takamichi ; Moriizumi, Toyosaka

Author_Institution

Dept. of Electr. & Electron. Eng., Tokyo Inst. of Technol., Japan

fYear

1996

fDate

8-11 Dec 1996

Firstpage

222

Lastpage

226

Abstract

A new sensing system to navigate a human or a mobile robot to an odor source is proposed. The system is called an “odor compass” since it continuously points toward an odor source by rotating a directional probe with plural gas sensors according to their responses. Sufficient working speed and convergence stability of the compass direction for practical use have been achieved by refining the control algorithm in spite of the slow and fluctuating sensor responses. A state equation is used to describe the sensor dynamics, and its parameters are estimated by the recursive least squares estimation. As a result, the direction toward an odor source has been successfully obtained from the estimated state equation. The measurement time has been reduced to 20-30 s from 60-180 s in the preliminary experiments described in the previous papers, and the deviation of the compass direction has also been suppressed to be 5° from 20-30°

Keywords

convergence; dynamics; gas sensors; least squares approximations; recursive estimation; convergence stability; directional probe; gas sensors; human; mobile robot; odor compass; odor source; recursive least squares estimation; sensor dynamics; state equation; Convergence; Equations; Gas detectors; Humans; Mobile robots; Navigation; Probes; Sensor phenomena and characterization; Stability; State estimation;

fLanguage

English

Publisher

ieee

Conference_Titel

Multisensor Fusion and Integration for Intelligent Systems, 1996. IEEE/SICE/RSJ International Conference on

Conference_Location

Washington, DC

Print_ISBN

0-7803-3700-X

Type

conf

DOI

10.1109/MFI.1996.572181

Filename

572181