Sensors 2011, 11(2), 2129-2154; doi:10.3390/s110202129

Olfaction and Hearing Based Mobile Robot Navigation for Odor/Sound Source Search

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Received: 17 December 2010; in revised form: 11 January 2011 / Accepted: 10 February 2011 / Published: 11 February 2011
(This article belongs to the Special Issue Direct and Indirect Sensing of Odor and VOCs and Their Control)
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Abstract: Bionic technology provides a new elicitation for mobile robot navigation since it explores the way to imitate biological senses. In the present study, the challenging problem was how to fuse different biological senses and guide distributed robots to cooperate with each other for target searching. This paper integrates smell, hearing and touch to design an odor/sound tracking multi-robot system. The olfactory robot tracks the chemical odor plume step by step through information fusion from gas sensors and airflow sensors, while two hearing robots localize the sound source by time delay estimation (TDE) and the geometrical position of microphone array. Furthermore, this paper presents a heading direction based mobile robot navigation algorithm, by which the robot can automatically and stably adjust its velocity and direction according to the deviation between the current heading direction measured by magnetoresistive sensor and the expected heading direction acquired through the odor/sound localization strategies. Simultaneously, one robot can communicate with the other robots via a wireless sensor network (WSN). Experimental results show that the olfactory robot can pinpoint the odor source within the distance of 2 m, while two hearing robots can quickly localize and track the olfactory robot in 2 min. The devised multi-robot system can achieve target search with a considerable success ratio and high stability.
Keywords: multi-robot system; smell and hearing; odor tracking; sound localization; heading direction; wireless sensor networks
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MDPI and ACS Style

Song, K.; Liu, Q.; Wang, Q. Olfaction and Hearing Based Mobile Robot Navigation for Odor/Sound Source Search. Sensors 2011, 11, 2129-2154.

AMA Style

Song K, Liu Q, Wang Q. Olfaction and Hearing Based Mobile Robot Navigation for Odor/Sound Source Search. Sensors. 2011; 11(2):2129-2154.

Chicago/Turabian Style

Song, Kai; Liu, Qi; Wang, Qi. 2011. "Olfaction and Hearing Based Mobile Robot Navigation for Odor/Sound Source Search." Sensors 11, no. 2: 2129-2154.

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