The problem of locating points of chemical contamination owing to leakage from underground pipelines is herein analyzed from the perspective of the odor-based search strategies of several lower organisms when… Click to show full abstract
The problem of locating points of chemical contamination owing to leakage from underground pipelines is herein analyzed from the perspective of the odor-based search strategies of several lower organisms when searching for mates, i.e., a zigzag strategy. A conventional zigzag strategy employs a constant turning angle. This paper proposes an improved strategy employing a variable turning angle that is adjusted according to well-defined stages of the search process. Computer simulations verify the effectiveness and efficiency of the proposed stage-wise strategy. The presented strategy is applicable to locating underground odor sources using mobile robots with olfactory sensors.
               
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