A Comparison of Casting and Spiraling Algorithms for Odor Source Localization in Laminar Flow

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  • Presented at: 2008 IEEE International Conference on Robotics and Automation, Pasadena, California, May 19-23, 2008
  • Published in: Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA 2008), p. 1138-1143
  • : , 2008

We compare two well-known algorithms for locating odor sources in environments with a main wind flow. Their plume tracking performance is tested through systematic experiments with real robots in a wind tunnel under laminar flow condition. We present the system setup and show the wind and odor profiles. The results are then compared in terms of time and distance to reach the source, as well as speed in upwind direction. We conclude that the spiral- surge algorithm yields significantly better results than the casting algorithm, and discuss possible rationales behind this performance difference.

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    NCCR-MICS NCCR-MICS/CL2

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