| 1. |
- Duckett, Tom, et al.
(författare)
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Learning to locate an odour source with a mobile robot
- 2001
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Ingår i: IEEE international conference on robotics and automation. - 0780365763 ; , s. 4017-4022
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Konferensbidrag (refereegranskat)abstract
- We address the problem of enabling a mobile robot to locate a stationary odour source using an electronic nose constructed from gas sensors. On the hardware side, we use a stereo nose architecture consisting of two parallel chambers, each containing an identical set of sensors. On the software side, we use a recurrent artificial neural network to learn the direction to a stationary source from a time series of sensor readings. This contrasts with previous approaches, that rely on the existence of a model of the sensor's dynamics. The complete system is able to orient and turn towards the source. An experimental validation was carried out to evaluate the performance of the system.
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| 2. |
- Kadmiry, Bourhane, et al.
(författare)
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Autonomous Helicopter Control Using Fuzzy-Gain Scheduling
- 2001
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Ingår i: Proceedings of the IEEE International Conference on Robotic & Automation (ICRA). - : IEEE conference proceedings. - 0780365763 ; , s. 2980-2985
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Konferensbidrag (refereegranskat)abstract
- The work reported in the paper is aimed at achieving aggressive manoeuvrability for an unmanned helicopter APID MK-III by Scandicraft AB in Sweden. The manoeuvrability problem is treated at the level of attitude (pitch, roll, yaw) and the aim is to achieve stabilization of the attitude angles within much larger ranges than currently available. We present a fuzzy gain scheduling control approach based on two different types of Iinearization of the original nonlinear APID MK-III model. The performance of the fuzzy gain scheduled controllers is evaluated in simulation and shows that they are effective means for achieving the desired robust manoeuvrability.
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| 3. |
- Lilienthal, Achim J., 1970-, et al.
(författare)
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Sensing odour sources in indoor environments without a constant airflow by a mobile robot
- 2001
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Ingår i: Proceedings 2001 ICRA. - : IEEE. - 0780365763 ; , s. 4005-4010
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Konferensbidrag (refereegranskat)abstract
- This paper describes the assembly of a mobile odour sensing system and investigates its practical operation in an indoor environment without a constant airflow. Lacking a constant airflow leads to a problem which cannot be neglected in real world applications. The response of the metal oxide gas sensors used is dominated by air turbulence rather than concentration differences. We show that this problem can be overcome by driving the robot with a constant speed, thus adding an extra constant airflow relative to the gas sensors location. If the robot's speed is not too low the system described proved to be well suited to detect even weak odour sources. Since driving with constant speed is an indispensable condition to perform the basic tasks of a mobile odour sensing system, a new localization strategy is proposed, which takes this into account.
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