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Smelling Robot Based on Sensors Array and Its Navigation

Author: WangTieJun
Tutor: YaoZhiHui
School: Harbin Institute of Technology
Course: Mechanical and Electronic Engineering
Keywords: smelling robot gas sensors array artificial neural network navigation algorithm
CLC: TP242.6
Type: Master's thesis
Year: 2008
Downloads: 39
Quote: 0
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Abstract


With the development of sensor technology, robot technology has made great progress. Intelligent robot has been applied to all areas of life. Robots are becoming and will eventually become an indispensable tool for human. As an important area of the robot research, the bio-robot research has aroused people’s attention, there have been robots which can listen, say or look. In terms of their relative, the research of smelling robot based on the principles of the olfactory sense is just at the initial stage.Plume tracking is an important part of smelling robot research. Most of the search strategies are facing sundry problems, and they can not achieve the desired results. Through analysis and comparison of the advantages and disadvantages of various search strategies, the article proposed quantitative identification using sensor array to identify mixture gas and avoid that the "cross-sensitivity" of metal oxide sensors. The article also proposed a method that use wind direction sensors to improve efficiency of searching the source.Starting with the analysis of principle of the biology’s smell and the ways of search source, the artificial olfactory system was analyzed. The article summers up the working principle and structure of smelling robot, introduces the quantitative identification technology based on multi-sensor array, achieves a calibration of the sensor array with a BP network. At the same time, a robot system is designed. The software and hardware design of the procedures of data collection, the procedures of obstacle avoidance by ultrasound, and the procedures of getting the wind direction are completed. In the end, the verification works of concentration gradient search algorithm and up-wind search algorithm on this platform are done.Through a series of experimental work, it proves that the design can achieve the intended purpose. The robot can track alcohol’s odor plume and search the source of the odor in a clean room with a higher rate of success.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Intelligent robots
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