A robotic platform for testing moth-inspired plume tracking strategies

摘要

A mobile autonomous robot capable of tracking an odor plume to its source can be used to locate hazardous material spills or leaks. To test plume tracking strategies in a laboratory environment, a robotic platform consisting of a linear Cartesian robotic gantry mounted inside a wind tunnel with a mobile floor has been designed. A plume of ionized air is created by an ion detector installed in the wind tunnel. A two-dimensional plume tracking strategy based on the behavior of the tobacco hornworm moth Manduca sexta is implemented and tested. It is discovered that a plume tracking algorithm can be implemented with the robotic platform almost as easily as in simulation.