Effectiveness of Infotaxis algorithm for searching in dilute conditions

Siqi Zhang, Rongxin Cui, Demin Xu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

Both tracking scents and locating odor sources are challenges in robotics. The odor plume is not a continuous cloud but consists of intermittent odor patches dispersed by the wind. Far from the source, the probability of encountering one of these patches vanishes. In such dilute conditions, the Infotaxis algorithm is first 'explore' the environment and gather information, then 'exploit' current knowledge and direct toward the estimated source location. We quantitatively analyze its success probability, mean path length, percentage of oriented-movements, and average search time with different initial distances from the source. Through comparison with the Dung Beetle algorithm, we show the effectiveness of Infotaxis algorithm for the scenario with a single source and a single searcher in a dilute condition.

Original languageEnglish
Title of host publicationProceedings of the 31st Chinese Control Conference, CCC 2012
Pages5048-5053
Number of pages6
StatePublished - 2012
Event31st Chinese Control Conference, CCC 2012 - Hefei, China
Duration: 25 Jul 201227 Jul 2012

Publication series

NameChinese Control Conference, CCC
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927

Conference

Conference31st Chinese Control Conference, CCC 2012
Country/TerritoryChina
CityHefei
Period25/07/1227/07/12

Keywords

  • Chemical plume
  • Infotaxis
  • Olfactory search
  • Robot

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