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

หน่วยงาน Central Queensland University, Australia

รายละเอียด

ชื่อเรื่อง : Decision-making in a multi-robot system for odor source localization
นักวิจัย : Lu, Qiang. , Han, Qing-Long.
คำค้น : Odors. , Strategic basic research. , 970101 Expanding Knowledge in the Mathematical Sciences. , 010203 Calculus of Variations, Systems Theory and Control Theory. , 010109 Ordinary Differential Equations, Difference Equations and Dynamical Systems. , Robotics. , Multi-robot systems -- Odor source localization
หน่วยงาน : Central Queensland University, Australia
ผู้ร่วมงาน : -
ปีพิมพ์ : 2554
อ้างอิง : http://hdl.cqu.edu.au/10018/918636
ที่มา : Lu, Q & Han, Q 2011, 'Decision-making in a multi-robot system for odor source localization' paper presented to IECON 2011: 37th Annual Conference of the IEEE Industrial Electronics Society, 7 - 10 November, Melbourne, Victoria, http://dx.doi.org/10.1109/IECON.2011.6119291
ความเชี่ยวชาญ : -
ความสัมพันธ์ : Proceedings : 37th Annual Conference of the IEEE Industrial Electronics Society (IECON 2011), Melbourne, Victoria, 7-10 November 2011. Piscataway, US : IEEE Computer Society, 2011. p. 74-79 6 pages Refereed 1553-572X 9781612849720 , ACQUIRE [electronic resource] : Central Queensland University Institutional Repository.
ขอบเขตของเนื้อหา : -
บทคัดย่อ/คำอธิบาย :

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.

บรรณานุกรม :
Lu, Qiang. , Han, Qing-Long. . (2554). Decision-making in a multi-robot system for odor source localization.
    กรุงเทพมหานคร : Central Queensland University, Australia.
Lu, Qiang. , Han, Qing-Long. . 2554. "Decision-making in a multi-robot system for odor source localization".
    กรุงเทพมหานคร : Central Queensland University, Australia.
Lu, Qiang. , Han, Qing-Long. . "Decision-making in a multi-robot system for odor source localization."
    กรุงเทพมหานคร : Central Queensland University, Australia, 2554. Print.
Lu, Qiang. , Han, Qing-Long. . Decision-making in a multi-robot system for odor source localization. กรุงเทพมหานคร : Central Queensland University, Australia; 2554.