Learning to locate an odour source with a mobile robot

Duckett, T. and Axelsson, M. and Saffiotti, A. (2001) Learning to locate an odour source with a mobile robot. In: IEEE International Conference on Robotics and Automation, 2001., May 21-26 2001, Seoul, Korea.

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Item Type:Conference or Workshop contribution (Paper)
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Abstract

We address the problem of enabling a mobile robot to locate a stationary odour source using an electronic nose constructed from gas sensors. On the hardware side, we use a stereo nose architecture consisting of two parallel chambers, each containing an identical set of sensors. On the software side, we use a recurrent artificial neural network to learn the direction to a stationary source from a time series of sensor readings. This contrasts with previous approaches, that rely on the existence of a model of the sensor's dynamics. The complete system is able to orient and turn towards the source. An experimental validation was carried out to evaluate the performance of the system.

Keywords:mobile robot olfaction, gas sensing, recurrent neural network, gas source localisation
Subjects:G Mathematical and Computer Sciences > G700 Artificial Intelligence
G Mathematical and Computer Sciences > G730 Neural Computing
Divisions:College of Science > School of Computer Science
ID Code:28663
Deposited On:08 Sep 2017 15:25

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