自律型匂い源探索ロボットに対する可変吸気機構の導入

抄録

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.