Haptically assisted chemotaxis for odor source localization

摘要: Detection of chemical trails has multiple applications in industry and exploration, where prompt localization dangerous substances encourages development robust sensors, systems, algorithms. Current sensing robotics focused on autonomous navigation, while transduction information to visual, tactile, or other types sensory cues have not been thoroughly addressed. This work proposes the inclusion a human operator order solve robot navigation problem visual haptic feedback arrangements that carry transmitted by sensors. A source is placed simulated environment, which navigated tracked controlled drivers. multipoint interface operates as controller provides force according direction gradient detected robot. Seven experiments test tracking performance three combinations under different air current configurations, consistently prove feasibility chemotaxis-based system. Moreover, this demonstrates with statistical significance using minimizes required time for reaching source. enables operator's capability important tasks during (i.e., obstacle avoidance).