Validation of an Odor Source Identification Algorithm via an Underwater Vehicle
This paper systemically discusses a procedure for evaluating and validating an odor source identification algorithm derived from moth-inspired plume tracing strategies. We evaluate and validate the proposed source identification algorithm as follows. First, we identify the source of a virtual chemical plume with significant filament intermittency and meander via a simulated underwater vehicle. Second, we validate the source identification algorithm using the virtual chemical plume and a real underwater vehicle in a swimming pool. Finally, we run in-water tests to trace a Rhodamine dye plume developed in near-shore ocean environments characterized by turbulence, tides and waves, and to identify its source via the underwater vehicle at Da Lian Bay in China.
Insect-inspired robots chemical plume tracing underwater vehicle odor source identification
Xiaodong Kang Wei Li Hongli Xu Xisheng Feng Yiping Li
State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of SciencesLiaon State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences Liao State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of SciencesLiaon
国际会议
三亚
英文
740-743
2012-01-06（万方平台首次上网日期，不代表论文的发表时间）