Finding odours across large search spaces: A particle swarm-based approach

被引：5

作者：

Marques, L ^{[1
]}

de Almeida, AT ^{[1
]}

机构：

[1] Univ Coimbra, Dept Elect & Comp Engn, Inst Syst & Robot, P-3030290 Coimbra, Portugal

来源：

CLIMBING AND WALKING ROBOTS | 2005年

关键词：

D O I：

10.1007/3-540-29461-9_40

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper proposes an evolutionary-based search algorithm to find odour sources with robot communities across large search spaces. The characteristics of outdoor odour plumes and the main problems in detecting and finding them in real environments are described. An artificial olfaction system designed to carry out olfaction-based mobile robot experiments in realistic conditions is shown. This olfaction system is composed by intelligent gas sensing nostrils and a directional thermal anemometer. The searching algorithm proposed is inspired in the particle swarm optimization (PSO) method. This algorithm allows coordinating the movements of multiple robots searching for odour sources across large search spaces. The paper describes the algorithm and compares its performance against other searching strategies.

引用

页码：419 / 426

页数：8

共 11 条

[1]

ALMEIDA N, 2003, P EUROSENSORS

[2] Olfactory search at high Reynolds number [J].

Balkovsky, E ;

Shraiman, BI .

PROCEEDINGS OF THE NATIONAL ACADEMY OF SCIENCES OF THE UNITED STATES OF AMERICA, 2002, 99 (20) :12589-12593

[3]

Kennedy J, 1995, 1995 IEEE INTERNATIONAL CONFERENCE ON NEURAL NETWORKS PROCEEDINGS, VOLS 1-6, P1942, DOI 10.1109/icnn.1995.488968

[4]

Marques L, 2003, PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3, P494

[5] Olfaction-based mobile robot navigation [J].

Marques, L ;

Nunes, U ;

de Almeida, A .

THIN SOLID FILMS, 2002, 418 (01) :51-58

[6]

MARQUES L, 2003, P EUROSENSORS

[7]

MARQUES L, 2003, IEEE INT C SENS

[8] CONCENTRATION FLUCTUATION MEASUREMENTS IN A DISPERSING PLUME AT A RANGE OF UP TO 1000-M [J].

MYLNE, KR ;

MASON, PJ .

QUARTERLY JOURNAL OF THE ROYAL METEOROLOGICAL SOCIETY, 1991, 117 (497) :177-206

[9]

Nielsen M., 2002, R1329EN RIS NAT LAB

[10] Recent approaches to global optimization problems through Particle Swarm Optimization [J].

K.E. Parsopoulos ;

M.N. Vrahatis .

Natural Computing, 2002, 1 (2-3) :235-306

← 1 2 →