Vision-based autonomous micro-air-vehicle control for odor source localization

This paper presents a novel control method for autonomous-odor-source localization using vision and odor sensing by micro air vehicles (MAVs). Our method is based on biomimetics, which enable highly autonomous localization. Our method does not need any instruction signals, including even global positioning system (GPS) signals. An experimenter just blows a whistle, and the MAV starts to hover, to seek an odor source, and to keep hovering near the source. The GPS-signal-free control based on vision enables indoor/underground use. Moreover, the MAV is light-weight (85 grams) and does not cause harm to others even if it accidentally falls. Experiments conducted in the real world were successful in enabling odor source localization using the MAV with a bio-inspired searching method. The distance error of the localization was 63 cm, more accurate than the target distance of 120 cm for individual identification. Our odor source localization is the first step to a proof of concept for a danger warning system. These results will be applied to the system to enable a safer and more secure society.