The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2020
Session ID : 1A1-E11
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Implementation of the variable capture-angle sampling system to the chemical plume tracing robot
*Kai KURABAYASHIRyota YANAGAWAShunsuke SHIGAKIYuya HATTORIDaisuke KURABAYASHI
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Abstract

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.

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© 2020 The Japan Society of Mechanical Engineers
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