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

หน่วยงาน Central Queensland University, Australia

รายละเอียด

ชื่อเรื่อง : On designing a cooperative control system for multiple mobile robots to locate the source of odor
นักวิจัย : Lu, Qiang , Centre for Intelligent and Networked Systems (CINS) , Han, Qing-Long , Centre for Intelligent and Networked Systems (CINS)
คำค้น : Intelligent robotics; Guidance navigation and control; Networked robotic system modeling and control
หน่วยงาน : Central Queensland University, Australia
ผู้ร่วมงาน : -
ปีพิมพ์ : 2554
อ้างอิง : http://hdl.cqu.edu.au/10018/918985 , acquire3-20120430-09348 , cqu:8423
ที่มา : -
ความเชี่ยวชาญ : -
ความสัมพันธ์ : -
ขอบเขตของเนื้อหา : -
บทคัดย่อ/คำอธิบาย :

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.

บรรณานุกรม :
Lu, Qiang , Centre for Intelligent and Networked Systems (CINS) , Han, Qing-Long , Centre for Intelligent and Networked Systems (CINS) . (2554). On designing a cooperative control system for multiple mobile robots to locate the source of odor.
    กรุงเทพมหานคร : Central Queensland University, Australia.
Lu, Qiang , Centre for Intelligent and Networked Systems (CINS) , Han, Qing-Long , Centre for Intelligent and Networked Systems (CINS) . 2554. "On designing a cooperative control system for multiple mobile robots to locate the source of odor".
    กรุงเทพมหานคร : Central Queensland University, Australia.
Lu, Qiang , Centre for Intelligent and Networked Systems (CINS) , Han, Qing-Long , Centre for Intelligent and Networked Systems (CINS) . "On designing a cooperative control system for multiple mobile robots to locate the source of odor."
    กรุงเทพมหานคร : Central Queensland University, Australia, 2554. Print.
Lu, Qiang , Centre for Intelligent and Networked Systems (CINS) , Han, Qing-Long , Centre for Intelligent and Networked Systems (CINS) . On designing a cooperative control system for multiple mobile robots to locate the source of odor. กรุงเทพมหานคร : Central Queensland University, Australia; 2554.