Exploring of gas source location using behavioral model of insects

Abstract

In this research, we aim to specify fire position and gas leakage position at the time of disaster such as fire and gas leak using the insect pheromone exploratory behavior model. We derive the characteristic equation of the relation between the output of the semiconductor gas sensor and the gas concentration, and the parameters of the gas diffusion equation were determined using the semiconductor gas sensor. We simulated the gas diffusion phenomenon from the diffusion equation. A simulation exploring gas source was performed by a mobile robot equipped with a semiconductor gas sensor. From simulation results, we evaluated the usefulness of the system.