Basing on the olfaction and vision information fusion for robot's odor source localization

Abstract

The efficiency and accuracy of the odor source localization by robot, which just relies on the olfaction information, the wind direction information, are lower. Human often use the vision information to search suspicious target, and reach the target, and judge it by Olfaction information further. In this paper, inspired by Human's searching and declaration strategy, the robot's odor source localization, which is based on the olfaction and vision information fusion technology, is studied. According to the robot's searching the leak source of the dangerous gas tank, the odor source model is established by fusion of the olfaction and vision information. So the robot has a certain prior knowledge, and can achieve the odor source declaration by using the stereo vision technique. The control system of the robot is designed by basing on the blackboard model. The robot can achieve the odor source localization by the olfaction and vision information fusion technology at last.