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On designing a cooperative control system for multiple mobile robots to locate the source of odor

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 a multi-robot system. A cooperative control system, which can coordinate the multi-robot system to locate the source of odor, is designed and independently executed by each robot. The proposed cooperative control system consists of three levels. In the first level, based on a mixture ensemble Kalman filtering theory, a new cooperative search algorithm, which can predict the probable position of the odor source by emph{exploiting} the information among the multi-robot system, is proposed. In the second level, a trajectory planning algorithm, by which the next position of a robot can be generated according to the predicted position of the odor source, detection events and non-detection events, is developed. In the third level, a consensus algorithm is used to control the robot to move toward the next position. Finally, the performance capabilities of the proposed cooperative control system are illustrated for the problem of odor source localization.

Funding

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

History

Parent Title

Proceedings of the 18th IFAC World Congress, 28 August - 2 September 2011, Milano, Italy.

Start Page

9446

End Page

9451

Number of Pages

6

Start Date

01/01/2011

Finish Date

01/01/2011

Location

Milano, Italy

Publisher

International Federation of Automatic Control (IFAC)

Place of Publication

Italy

Peer Reviewed

Yes

Open Access

No

Era Eligible

Yes

Name of Conference

International Federation of Automatic Control. World Congress