Detektion und Lokalisierung einer Geruchsquelle mit einem autonomen mobilen Roboter

This paper presents studies concerning the use of an electronic nose on an autonomous mobile robot, in particular experiments were introduced in which a mobile robot generates two dimensional concentration maps of a known target gas in an unventilated room. It was shown that these concentration maps are clearly related to the position of the odour source. Moreover our results show that if accurate localization of the odour source itself is desired one has to consider weak air currents which usually occur even in closed unventilated rooms (often caused by convection).