Robots implementation for odor source localization using PSO algorithm

Abstract

Research topics in robotic application is quite varies but one of the most interesting topic is odor source localization. This research combine the robot ability to recognize odor and track the movement so that robot can find the source. Most of the research are done to improve the algorithm to localize the source by using simulation software. This paper tries to verify the robustness of one of the localization method known as Particle Swarm Optimization (PSO) in the real-world implementation. This paper will shows robot model that used in the experiment and also discuss the architecture to implement robot behavior. A group of mobile robots equipped with wireless communication device and odor sensors is employed. The experiment is conduct in area of 488cm × 488cm with dynamic odor source in one end. The experiment also used a set of camera to track robots position. The experiement result verifies that PSO is technically sound for real-world odor source localization. In this experiment, PSO can localized the source in 360 seconds or bellow.