Abstract
A localization method based on klinotaxis is proposed to contribute to improve the environment of lakes using the underwater robot that imitates fish. By using the method, the source can be found from the change of stimulation during wave propulsion in a dispersion field. An experiment is performed using a mechanism of sniffing to explore the relationship between sensor response and strength of a diffusion field. In the result of the experience, the sensor response become obvious using the mechanism, and a transient response is also observed clearly. But it is hard to know the distribution of the stimulation if there is the transient response m atmosphere. So, it is problem to improve the transient response in diffusion field for the use of the swing sensing of the propulsion. Then, it is shown that the localization of the source is possible by using the analysis of characteristic response with the swing sensing m the field.
