Journal
ROBOTICS AND AUTONOMOUS SYSTEMS
Volume 30, Issue 1-2, Pages 115-131Publisher
ELSEVIER SCIENCE BV
DOI: 10.1016/S0921-8890(99)00068-8
Keywords
chemo-orientation; turbulence; biomimic; lobster
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Lobsters are capable of tracking turbulent plumes to their sources faster than can be accomplished by estimating a spatial gradient from time-averaging the concentration signal. We have used RoboLobster, a biomimetic robot lobster to investigate biologically scaled chemotaxis algorithms using two point concentration sampling to track a statistically characterized turbulent plume. Our results identify the range of effectiveness of these algorithms and, with studies of lobster behavior, suggest effective strategies beyond this range. They suggest that a lobster's chemo-orientation strategy entails an unidentified means of dealing with the intermittency of the concentration signal. Extensions of these algorithms likely to improve are discussed. (C) 2000 Elsevier Science B.V. All rights reserved.
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