Chemical Scanner for Mobile Robot Navigation

The paper presents a tentative solution to the problem of olfaction-based mobile robot navigation in the chemical plume. This type of navigation requires fast and reliable detection of small gradient of gas concentration in 3D space. The special sensor system designed to detect odour plume with significantly reduced inertia named ”chemical scanner” was proposed [5]. A special aƩention has been given to evaluate sensing system performance in stable and repeatable conditions. The ability to detect small gradient of gas concentration was examined on a special test bench. The real spatial distribution of tested gas in the air was estimated using CFD simulation. The results proved that the real-time detection of small (a few percent of measured value) difference in gas concentration on very short distance (a several centimetres range) is possible. The next stage of research will examine of the developed sensor system on the mobile plaƞorm for its navigation.