TY - CONF A1 - Haratsu, T. A1 - Neumann, Patrick P. A1 - Sakaue, M. A1 - Matsukura, H. A1 - Ishida, H. T1 - Simulating a Gas Source Localization Algorithm with Gas Dispersion Produced by Recorded Outdoor Wind N2 - This presentation reports the use of the first gas dispersion simulator capable of generating large wind fluctuation, to test a modification to a gas source localization algorithm and study how the change affects it. Gas source localization at an outdoor environment is a challenging task mainly due to the complexity of the spreading gas caused by the unpredictable nature of constantly changing wind. Therefore, a novel use of outdoor wind in developing a gas source localization system by simulation will be shared. To consider the characteristic of sudden but large and unpredictable changes in wind direction, recorded outdoor wind was used to simulate a realistic outdoor gas dispersion which has been done for the first time. With the use of this simulator, a modification to a mobile robot-based gas source localization algorithm was evaluated. Multiple simulations of the modified and the original algorithm were done to study the effect of the tested modification. The results showed that a small difference in the algorithm can greatly impact the results. From this study, we consider the use of simulation consisting of the necessary traits to evaluate outdoor gas source localization, has the potential to accelerate the development of a reliable localization system. T2 - ROBOT2022: Fifth Iberian Robotics Conference CY - Zaragoza, Spain DA - 23.11.2022 KW - Gas Dispersion Simulator KW - Gas Source Localization KW - Mobile Robot Olfaction KW - Particle Filter PY - 2022 AN - OPUS4-56413 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER -