Naïve Physics for Effective Odour Localisation
نویسندگان
چکیده
This paper describes current progress of a project that uses naïve physics to enable a robot to perform efficient odour localisation. Odour localisation is the problem of finding the source of an odour or other volatile chemical. Performing this effectively could lead to many humanitarian and other valuable applications. Current techniques utilise reactive control schemes requiring the robot to follow the plume along its entire length, which is slow and may be especially difficult in a cluttered environment. This research is concerned with creating a more ‘intelligent’ system to overcome these limitations. A map of the robot’s environment was used, together with a naïve physics model of airflow to predict the pattern of air movement. The robot used the airflow pattern to reason about the probable location of the odour source. A prototype system was successful in a simplified cluttered environment, locating the source comparatively quickly. This demonstrates that naïve physics can be used for effective odour localisation, and has the potential to allow a robots operating in unstructured environments to reason about their surroundings. This paper presents details of the naïve physical model of airflow, reasoning system, experimental work, and results of practical odour source localisation experiments.
منابع مشابه
Advanced Airflow Modelling Using Naive Physics for Odour Localisation
To date, robotics has had limited success at operating in unstructured environments. Part of the problem is the lack of commonsense reasoning. One area of commonsense reasoning is Naive Physics, the practice of using intuitive rules to reason about the physical environment. Researchers have explored relevant philosophical issues, attempted to develop logical formalisations, and developed system...
متن کاملImproving the robustness of Na?ve Physics airflow mapping, using Bayesian reasoning on a multiple hypothesis tree
Previous work on odour localisation in enclosed environments, relying on an airflow model, has faced significant limitations due to the fact that large differences between airflow topologies are predicted for only small variations in a physical map. This is due to uncertainties in the map and approximations in the modelling process. Furthermore, there are uncertainties regarding the flow direct...
متن کاملA model of visual-olfactory integration for odour localisation in free-flying fruit flies.
Flying fruit flies (Drosophila melanogaster) locate a concealed appetitive odour source most accurately in environments containing vertical visual contrasts. To investigate how visuomotor and olfactory responses may be integrated, we examine the free-flight behaviour of flies in three visual conditions, with and without food odour present. While odour localisation is facilitated by uniformly di...
متن کاملExperimental Analysis of Smelling Braitenberg Vehicles
This paper addresses the problem of localisation of a static odour source in an unstructured indoor environment by a mobile robot using electrochemical gas sensors. In particular, reactive localisation strategies based on the instantaneously measured spatial concentration gradient are considered. In contrast to previous works, the environment is not artificially ventilated to produce a strong c...
متن کامل