Navigation strategies for a robot in a turbulent odor plume using bilateral comparison

Etienne Hugues 1 Olivier Rochel 1 Dominique Martinez 1
1 CORTEX - Neuromimetic intelligence
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
Abstract : This paper concentrates on the use of bilateral comparison between two spatially separated gas sensors arrays for the navigation of a robot in a turbulent odor plume. We propose binary or analog navigation laws depending on the nature of the available sensory information: in the binary case, only the side of the highest concentration is known, while in the analog case the graded concentration levels at both sides are known. To insure their efficiency we impose a stability condition and a convergence condition. The proposed laws are then simulated and tested experimentally with a robot in the case of a turbulent odor plume.
Type de document :
Communication dans un congrès
International Conference on Advanced Robotics - ICAR'2003, Jun 2003, Coimbra, Portugal, 6 p, 2003
Liste complète des métadonnées

https://hal.inria.fr/inria-00099631
Contributeur : Publications Loria <>
Soumis le : mardi 26 septembre 2006 - 09:39:34
Dernière modification le : jeudi 11 janvier 2018 - 06:19:48

Identifiants

  • HAL Id : inria-00099631, version 1

Collections

Citation

Etienne Hugues, Olivier Rochel, Dominique Martinez. Navigation strategies for a robot in a turbulent odor plume using bilateral comparison. International Conference on Advanced Robotics - ICAR'2003, Jun 2003, Coimbra, Portugal, 6 p, 2003. 〈inria-00099631〉

Partager

Métriques

Consultations de la notice

112