Perception model for the aspiration process of a biologically inspired sniffing robot

摘要

Robots have capabilities emulating senses as they can now see, hear and touch, but the sense of smell is just starting to be implemented in mobile applications. The principal task of a smell capable robot is the odor source localization. Nevertheless, to obtain the best algorithmic results, the perception of the environment is crucial. One of the difficulties when developing chemical sensors is that the odor exposure saturates the sensor and chemical reactions change the sensor which needs time to be restarted. In this paper we are focusing on the perception problem by including the biologically inspired aspiration process and the qualitative model for the sensorial design. The implementation of proposed design would be an aid to optimize odor source localization techniques.