Design of an autonomous mobile olfactory robot for chemical source localization

Abstract

This paper presents the design of an autonomous mobile olfactory robot that is capable of locating the source of a simulated chemical leak in an environment while detecting and avoiding obstacles along its path, by using two chemical sensors and proximity detectors. This paper discusses the autonomous mobile olfactory robot (AMOR) from the design challenges, to the mobile robot's mechanical and system parameters, and chemotaxis. Experimental results are also presented demonstrating that electronic olfaction information together with robot navigation is sufficient to locate the source of a chemical leak.