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Scope of Improvement in Algorithm for Odor Source Localization in an Indoor Dynamic Environment: A Preliminary Study

Kumar Gaurav 1, Ajay Kumar 1, and Ram Dayal 2
1. Department of Mechatronics Engineering, Manipal University Jaipur, Jaipur, India
2. Department of Mechanical Engineering, NIT Uttarakhand, India
Abstract—A study to explore possibilities to improve plume tracing algorithm in an indoor dynamic environment is reported in this work. It captures the success/failure of a differential drive mobile robot AKA Virtual Agent (VA) in localizing two sources of chemical emission with different intensities in an indoor environment. The plume tracing algorithm was tested under three different conditions. First, at an instantaneous sample point steady in time having information about plume concentration and wind airflow vectors and second in dynamic condition when each data point is sampled at a constant rate of 1 sample/sec. We have also investigated a pseudo steady state situation, keeping the environment dynamic but retained the sampled data for some duration i.e. 1 sample/n sec (1<n<20) which can facilitate more decision making capability of mobile robot and in turn more random turn angles and move lengths. Results have been compiled based on above three conditions and reveal that only a limited instantaneous sample data points give 100 % success and thereafter it reduces to minimum for others, whereas for dynamic (1 sample/sec) gives minimum success runs and lastly for third case it is moderate. 
 
Index Terms—indoor, dynamic environment, odor source localization, plume tracing algorithm, chemotaxis, mobile robot

Cite: Kumar Gaurav, Ajay Kumar, and Ram Dayal, "Scope of Improvement in Algorithm for Odor Source Localization in an Indoor Dynamic Environment: A Preliminary Study," International Journal of Electronics and Electrical Engineering, Vol. 7, No. 2, pp. 27-32, June 2019. doi: 10.18178/ijeee.7.2.27-32
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