Odor source localization strategy under environment with obstacles and dynamic turbulent airflow

摘要

Tracking dynamic odor plume up to odor source in real world environment using a chemical sensor is not trivial task. In general, odor distribution in real world is temporally and spatially fluctuated in random manner. This paper presents a computer simulation framework to develop and evaluate a tracking strategy in consistent virtual environment. A dynamic turbulent environment model with an odor source was modeled in a Computational Fluid Dynamics (CFD) software and the resulted data was used for a plume tracking simulation. This paper addresses the problem of estimating the trend of fluctuated odor concentration for odor plume tracking. An estimation method to approximate concentration trend of fluctuated odor is embedded into a chemotaxis-anemotaxis based plume tracking strategy to localize the source. Performance of the strategy was evaluated over many initial positions of tracking node throughout the virtual environment. This method is useful to enhance the localization capability.