Title :
Bio-Inspired Navigation of Chemical Plumes
Author :
Porter, Maynard J., III ; Vasquez, Juan R.
Author_Institution :
Dept. of Electr. & Comput. Eng., Air Force Inst. of Technol., Dayton, OH
Abstract :
The ability of many insects, especially moths, to locate either food or a member of the opposite sex is an amazing achievement. There are numerous scenarios where having this ability embedded into ground-based or aerial vehicles would be invaluable. This paper presents results from a 3-D computer simulation of an unmanned aerial vehicle (UAV) autonomously tracking a chemical plume to its source. The simulation study includes a simulated dynamic chemical plume, 6-degree of freedom, nonlinear aircraft model, and a bio-inspired navigation algorithm. The emphasis of this paper is the development and analysis of the navigation algorithm. The foundation of this algorithm is a fuzzy controller designed to categorize where in the plume the aircraft is located: coming into the plume, in the plume, exiting the plume, or out of the plume
Keywords :
aerospace computing; aircraft control; control system CAD; digital simulation; fuzzy control; remotely operated vehicles; 3D computer simulation; autonomous unmanned aerial vehicle; chemical plume bioinspired navigation algorithm; chemical plume tracking; fuzzy controller design; fuzzy logic control; nonlinear aircraft model; Aircraft navigation; Algorithm design and analysis; Chemicals; Computational modeling; Computer simulation; Insects; Land vehicles; Remotely operated vehicles; Unmanned aerial vehicles; Vehicle dynamics; Fuzzy logic; bio-inspired; navigation; plume navigation; plume tracking;
Conference_Titel :
Information Fusion, 2006 9th International Conference on
Conference_Location :
Florence
Print_ISBN :
1-4244-0953-5
Electronic_ISBN :
0-9721844-6-5
DOI :
10.1109/ICIF.2006.301656