TY - GEN
T1 - Swarm olfactory search in turbulence environment
AU - Zhang, Siqi
AU - Cui, Rongxin
AU - Xu, Demin
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/12/23
Y1 - 2014/12/23
N2 - It is a challenge task for robots to tracking scents and locate odor sources because the odor plume is not continuous but consists of intermittent odor patches dispersed by the wind. In general, the space map cannot be foreknown. A novel olfactory search method employing swarm robots with limited space perception in turbulence environment is presented in this paper. In this method, both 'information sharing' and 'collision avoidance' are taken into account in searching for the odor source. An approximate expression of the inferred position of the odor source is established to solve the problem with insufficient environment knowledge. The moving direction of each robot is given by minimization of a free energy separately. An internal 'temperature' allows active control on the exploration/exploitation balance during the search. Simulation results demonstrate the validity of the proposed method.
AB - It is a challenge task for robots to tracking scents and locate odor sources because the odor plume is not continuous but consists of intermittent odor patches dispersed by the wind. In general, the space map cannot be foreknown. A novel olfactory search method employing swarm robots with limited space perception in turbulence environment is presented in this paper. In this method, both 'information sharing' and 'collision avoidance' are taken into account in searching for the odor source. An approximate expression of the inferred position of the odor source is established to solve the problem with insufficient environment knowledge. The moving direction of each robot is given by minimization of a free energy separately. An internal 'temperature' allows active control on the exploration/exploitation balance during the search. Simulation results demonstrate the validity of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=84921283558&partnerID=8YFLogxK
U2 - 10.1109/MFI.2014.6997701
DO - 10.1109/MFI.2014.6997701
M3 - 会议稿件
AN - SCOPUS:84921283558
T3 - Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014
BT - Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014
Y2 - 28 September 2014 through 30 September 2014
ER -