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An approach to odor source localization with an aerial vehicle using the fusion of odor sensors, visual sensors, and airspeed sensors is presented. The motion of the tracking vehicle is decomposed into two components - a component normal to the wind direction and a component tangential to the wind direction. The tangential component is controlled with a strategy that moves upwind when odor is detected...
A new strategy is developed for tracking an odor plume in an environment where wind is present. The strategy is inspired by the mechanisms that animals use to orient to stimuli. A male moth counter-turns horizontally and vertically across the wind while tracking a pheromone plume. The inter-turn duration, or the amount of time between turns, is about 500 milliseconds on average in both directions...
The problem of determining the self-motion of an autonomous aerial vehicle using onboard sensors is of interest to both engineers and biologists. Engineers typically use some combination of a global positioning system receiver, inertial measurement units, and optical sensors to estimate self motion. Biological systems also possess visual and inertial sensors. Airspeed sensors are also available to...
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