The localization method of active olfaction robot and experimental study

An active olfaction implementation scheme based on zigzag search algorithm using a wheeled mobile robot and the experimental verification are put forward. Firstly, the hardware structure of the active olfaction robot is setup. Secondly, the Zigzag-based robot active olfaction dynamic system implementation procedure in the simulated environment is presented, including plume finding, plume tracking and odor source declaration, and simulation results validate the proposed search scheme. The entire system was used under steady wind condition to locate the ethanol odor source. Choice 15m as the start distance, and after 10 times locating, the error is less than 5% and the experimental results prove that the system recognition is accuracy.