Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
In this paper, we proposed a variable capture-angle sampling system for a chemical plume tracing (CPT) robot. We designed a variable capture-angle sampling system and implemented it to an autonomous mobile robot. We also proposed a heuristic control of the angle during CPT. Through verifications using ethanol as the target chemical, we demonstrated the variable capture-angle sampling ability of the proposed system. Additionally, we conducted CPT experiments with the heuristic control to change the capture angle of the system depending on intervals of chemical senses. The results indicated that the proposed system potentially improves the efficiency of CPT by autonomous individual robot.