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http://dx.doi.org/10.5391/JKIIS.2006.16.6.698

Odor Source Tracking of Mobile Robot with Vision and Odor Sensors  

Ji, Dong-Min ((주)누리텔레콤)
Lee, Jeong-Jun ((주)하이온콥)
Kang, Geun-Taek (부경대학교 전자컴퓨터정보통신공학부)
Lee, Won-Chang (부경대학교 전자컴퓨터정보통신공학부)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.16, no.6, 2006 , pp. 698-703 More about this Journal
Abstract
This paper proposes an approach to search for the odor source using an autonomous mobile robot equipped with vision and odor sensors. The robot is initially navigating around the specific area with vision system until it looks for an object in the camera image. The robot approaches the object found in the field of view and checks it with the odor sensors if it is releasing odor. If so, the odor is classified and localized with the classification algorithm based on neural network The AMOR(Autonomous Mobile Olfactory Robot) was built up and used for the experiments. Experimental results on the classification and localization of odor sources show the validity of the proposed algorithm.
Keywords
이동로봇;냄새 발생지 추적;후각 센서;비전 센서;신경회로망;
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