P2.9.22 Odor plume tracking using a mobile robot withpseudochemotaxis

Event

14th International Meeting on Chemical Sensors - IMCS 2012
2012-05-20 - 2012-05-23
Nürnberg/Nuremberg, Germany

Chapter

P2.9 Technology and Application

Author(s)

Y. Takei, N. Masuta, H. Nanto - Dept. Robotics, Kanazawa Institute of Technology (Japan)

Pages

1765 - 1766

DOI

10.5162/IMCS2012/P2.9.22

ISBN

978-3-9813484-2-2

Price

free

Abstract

Odor plume tracking robot is developed by using semiconductor-type gas sensors and a mobile robot without any microprocessors for controlling the moving direction. The mobile robot has two wheels driven by the DC motors and two gas sensors which are used to detect the gas concentration in the plume. The outputs of gas sensors located in the left and right side of the robot are directly connected to the motor actuators located in the opposite sides through the PWM comparators. The gas concentration change is directly converted into the PWM duty ratio and the moving direction of the robot is decided without any control units. The results of ethanol plume tracking have shown the effectiveness of the proposed system.