Ahmed Mohamod Farah and Tom Duckett
Reactive Localisation of an Odour Source by a Learning Mobile Robot
Abstract
The goal of this work was to enable a mobile robot to navigate
autonomously towards a stationary odour source with the help of
a sense of smell.
Two electronic noses, each containing a set of gas sensors,
mounted on top of a Koala mobile robot were used for detection
of the odour.
The sensing strategy used for data collection was investigated
in order to reduce the influence of air turbulences on
the sample handling process.
Then a multi-layer artificial neural network was used to learn
both the direction to the source and the required turning speed
of the robot.
An experimental validation was carried out to evaluate
the performance of the complete system.
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Bibtex
@INPROCEEDINGS{Mohamod02,
AUTHOR = "Ahmed Mohamod Farah and Tom Duckett",
TITLE = "Reactive Localisation of an Odour Source by a Learning Mobile Robot",
BOOKTITLE = "Proceedings of the Second Swedish Workshop on Autonomous Robotics",
ADDRESS = "Stockholm, Sweden",
YEAR = "October 10-11, 2002",
}