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Decision-making in a multi-robot system for odor source localization

conference contribution
posted on 06.12.2017, 00:00 by Qiang Lu, Qing-Long Han
This paper deals with the problem of odor source localization using multiple mobile robots. A cooperative control solution, which is used to coordinate the robot group to locate the odor source, is proposed and independently executed by each robot. Firstly, a particle filter, which can estimate the position of the odor source by using all observations among the robot group, is used. Secondly, based on the estimated position of the odor source, a movement direction is planned by a leader robot, which currently detects odor clues. Thirdly, two decision-making control laws, which can enable the robot group to make a parallel motion or a circular motion in terms of the planned direction and the estimated position of the odor source, are developed. Finally, the performance capabilities of the proposed cooperative control solution are illustrated for the problem of odor source localization.

Funding

Category 1 - Australian Competitive Grants (this includes ARC, NHMRC)

History

Parent Title

Proceedings : 37th Annual Conference of the IEEE Industrial Electronics Society (IECON 2011), Melbourne, Victoria, 7-10 November 2011.

Start Page

74

End Page

79

Number of Pages

6

Start Date

01/01/2011

Finish Date

01/01/2011

ISSN

1553-572X

ISBN-13

9781612849720

Location

Melbourne, Vic., Australia

Publisher

IEEE Computer Society

Place of Publication

Piscataway, US

Peer Reviewed

Yes

Open Access

No

External Author Affiliations

Centre for Intelligent and Networked Systems (CINS); Institute for Resource Industries and Sustainability (IRIS);

Era Eligible

Yes

Name of Conference

IEEE Industrial Electronics Society. Conference