A Gas/Odor Source Localization Strategy for Mobile Robot Based on Animal Predatory Behavior

A gas/odor source localization strategy based on animal predatory behavior is presented,which fuses the information from gas sensors,wind direction sensors,ultrasound sensors,etc.Such problems in the gas/odor source searching process as obstacle avoidance and repetitive search are considered,and the conditions for gas/odor source confirmation are presented.Experiments are made for the robot to search a leaking bottle with alcohol in a dynamic indoor environment,and the results validate the high efficiency and validity of the presented localization strategy.