Reactive localisation of an odour source by a learning mobile robot

Farah, Ahmed Mohamod and Duckett, Tom (2002) Reactive localisation of an odour source by a learning mobile robot. In: Second Swedish Workshop on Autonomous Robotics, October 11-12, 2002, Stockholm, Sweden.

28023 mohamod_duckett.pdf
28023 mohamod_duckett.pdf - Whole Document

Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive


The goal of this work was to enable a mobile robot to navigate autonomously towards a stationary odour source with the help of a sense of smell. Two electronic noses, each containing a set of gas sensors, mounted on top of a Koala mobile robot were used for detection of the odour. The sensing strategy used for data collection was investigated in order to reduce the influence of air turbulences on the sample handling process. Then a multi-layer artificial neural network was used to learn both the direction to the source and the required turning speed of the robot. An experimental validation was carried out to evaluate the performance of the complete system.

Keywords:gas sensing, mobile robot olfaction, electronic nose, robot learning
Subjects:G Mathematical and Computer Sciences > G700 Artificial Intelligence
Divisions:College of Science > School of Computer Science
ID Code:28023
Deposited On:28 Jul 2017 08:52

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