Evaluation of bio inspired Mokhtar: Odor localization system

this paper presents performance evaluation of a simple robotic platform named Mokhtar, designed for odor leak localization. The intermittent odor distribution and non-uniformity of the odor flow are two significant obstacles for localizing odor source. The performance is evaluated based on time to reach source, final distance from source and Success Rate. Experiments were carried out for odor mapping followed by testing in indoor as well as outdoor environment. Effect of variation in location and distance of the leak with respect to Mokhtar on localization was studied. Experiments were carried out to test leak localization varying the concentration of the odor as well as direction of the odor from the leak. Acquiring 3 dimensional odor distribution, instead of traditional 2D, as well as use of wind sensor, as the feedback signal during localization has improved the performance. A novel priority based sniffing (PBS) algorithm implemented and specific arrangement of sensors has enabled Mokhtar to reach the source, independent of distance as well as concentration of the leak. Testing for leak generating odor plumes in different directions, is another major contribution of this work.