Scheduled System Maintenance on May 29th, 2015:
IEEE Xplore will be upgraded between 11:00 AM and 10:00 PM EDT. During this time there may be intermittent impact on performance. For technical support, please contact us at We apologize for any inconvenience.
By Topic

Controlling a gas/odor plume-tracking robot based on transient responses of gas sensors

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Ishida, H. ; Dept. of Phys. Electron., Tokyo Inst. of Technol., Japan ; Nakayama, G. ; Nakamoto, T. ; Moriizumi, T.

Gas sensors provide an artificial sense of smell for a mobile robot to track an airborne gas/odor plume and locate its source. However, a slow response of gas sensors has been the major factor limiting the development of plume-tracking robots. This paper describes a new control algorithm that breaks the limitation. The basic idea is to detect onsets of gas sensor response and starts of recovery by monitoring the relative change in each sensor output. Fast plume tracking is accomplished by making the robot take appropriate actions immediately when the sensor outputs start changing from one state to another. Growing sensor outputs evoke an increase in the robot speed for further acceleration of plume tracking, whereas insufficient sensor outputs slow down the robot to avoid degrading the search success rate. In contrast to the previous algorithm, based on the absolute sensor output levels, the detection of output change also leads to reliable plume detection, since it is insusceptible to drift in the gas sensor outputs. Experimental results have shown that the robot can track down a gas source within the distance of 2 m in 32 s, even though semiconductor gas sensors with a long recovery time (>60 s) are used.

Published in:

Sensors Journal, IEEE  (Volume:5 ,  Issue: 3 )