Accession Number:

ADA453580

Title:

Bio-Inspired, Odor-Based Navigation

Descriptive Note:

Master's thesis

Corporate Author:

AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH DEPT OF ELECTRICAL AND COMPUTER ENGINEERING

Personal Author(s):

Report Date:

2006-03-01

Pagination or Media Count:

185.0

Abstract:

The ability of moths to locate a member of the opposite sex, by tracking a wind-borne plume of odor molecules, is an amazing reality. Numerous scenarios exist where having this capability embedded into ground-based or aerial vehicles would be invaluable. The main crux of this thesis investigation is the development of a navigation algorithm which gives a UAV the ability to track a chemical plume to its source. Inspiration from the male moths, in particular Manduca sexta, ability to successfully track a females pheromone plume was used in the design of both 2-D and 3-D navigation algorithms. The algorithms were developed to guide autonomous vehicles to the source of a chemical plume. The algorithms were implemented using a variety of fuzzy controllers and ad hoc engineering approaches. The fuzzy controller was developed to estimate the location of a vehicle relative to the plume coming into the plume, in the plume, exiting the plume, or out of the plume. The 2-D algorithm had a 60 to 90 success rate in reaching the source while certain versions of 3-D algorithm had success rates from 50 to 100.

Subject Categories:

  • Bionics
  • Air Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE