Odor Source Localization in Low Computational Controller Micro Quadrotor

Abstract

This paper proposes a new approach for odor source localization using a low computational controller in the micro quadcopter. Searching for an odor source is an engineering problem, it can be a simple task if a high-computational controller is implemented. However, in reality, a micro quadcopter has a major constraint: the payload limitation where the high-computational controller can be out of the option. In this case, a low computational controller is employed to complement the searching requirement. In this research, the searching algorithm based on bio-inspired behavior of the silkmoth and noise reduction based on the Savitzky-Golay filter is employed. The odor source localization in the micro quadcopter shows a satisfactory result where the test is validated through experimental validation.