Relying on an electronic nose for odor localization

摘要

In this work we integrate an electronic nose with a mobile robot for the purpose of detecting odor leaks in a 1-dimensional environment. The robot relies on two mechanisms, the navigational algorithms to manoeuver in the environment and its sensing mechanism to adequately represent odors and their intensities. The emphasis of the proposed odor tracking strategy is placed on the cooperation between these two mechanisms particularly by allowing the sensor dynamics to guide the robot. We then obtain a graphical representation of the distribution of odour as the robot moves in a path. The results presented were designed and tested considering a specific application, however, the odor tracking strategy may offer a basis for odor source localization in more complex environments.