Abstract
This paper presents a fleet of chemical plume tracers with the distributed architecture developed at California State University, Bakersfield (CSUB). Each chemical plume tracer built upon a DaNI robot integrates multiple sensors, including a wind sensor, chemical sensors, a wireless router, and a network camera. The DaNI robot is an advanced platform embedded with a single control board (sbRIO-9632), consisting of a 400 MHz industrial processor, a 2M gate Xilinx Spartan FPGA, and a variety of I/Os. In order demonstrate the feasibility of the designed chemical plume tracers, the experiments on moth-inspired plume tracing are conducted under the turbulent airflow environment. This fleet of chemical plume tracers is a powerful tool for investigating algorithms for the tracking and mapping of chemical plumes via swarm intelligence.
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© 2015 Springer International Publishing Switzerland
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Oswald, D., Lin, H., Mao, X., Li, W., Niu, L., Chen, X. (2015). A Fleet of Chemical Plume Tracers with the Distributed Architecture Built upon DaNI Robots. In: Tan, Y., Shi, Y., Buarque, F., Gelbukh, A., Das, S., Engelbrecht, A. (eds) Advances in Swarm and Computational Intelligence. ICSI 2015. Lecture Notes in Computer Science(), vol 9140. Springer, Cham. https://doi.org/10.1007/978-3-319-20466-6_56
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DOI: https://doi.org/10.1007/978-3-319-20466-6_56
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