Two simple three-dimensional moth inspired odor tracking algorithms, Counter-turner and Modified counter-turner, were tested on a robotic platform. The Counter-turner uses the plume edge to modify the timing of the crosswind movements, while the Modified counter-turner uses the plume centerline. Both algorithms shows some success in tracking the plume to it’s source. In addition, flight tracks show promise in mimicking the flight tracks observed in biological experiments with the moth Manduca. Sexta.

A mobile autonomous robot capable of tracking an odor plume to its source can be used to locate hazardous material spills or leaks. To test plume tracking strategies in a laboratory environment, a robotic platform consisting of a linear Cartesian robotic gantry mounted inside a wind tunnel with a mobile floor has been designed. A plume of ionized air is created by an ion detector installed in the wind tunnel. A two-dimensional plume tracking strategy based on the behavior of the tobacco hornworm moth Manduca sexta is implemented and tested. It is discovered that a plume tracking algorithm can be implemented with the robotic platform almost as easily as in simulation.