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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.
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https://hal.inria.fr/inria-00099631
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Submitted on : Tuesday, September 26, 2006 - 9:39:34 AM
Last modification on : Friday, February 26, 2021 - 3:28:03 PM

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  • HAL Id : inria-00099631, version 1

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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. ⟨inria-00099631⟩

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