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基于微粒群优化的有限通信多机器人气味寻源
引用本文:张建化,巩敦卫,张勇.基于微粒群优化的有限通信多机器人气味寻源[J].控制与决策,2013,28(5):726-730.
作者姓名:张建化  巩敦卫  张勇
作者单位:1. 中国矿业大学 信息与电气工程学院,江苏 徐州 221008
2. 徐州工程学院 机电学院,江苏 徐州 221018
基金项目:

国家自然科学基金项目;江苏省自然科学基金;高等学校博士学科点专项科研基金

摘    要:考虑机器人间的通信受限约束,将机器人抽象为微粒,提出基于微粒群优化的多机器人气味寻源方法.首先,采用结合斥力函数的策略,引导机器人快速搜索烟羽;然后,基于无线信号对数距离损耗模型,估计机器人间的通讯范围,据此形成微粒群的动态拓扑结构,并确定微粒的全局极值;最后,将传感器的采样/恢复时间融入微粒更新公式,以跟踪烟羽.将所提出方法应用于3个不同场景的气味寻源,实验结果验证了该方法的有效性.

关 键 词:气味寻源  多机器人  微粒群优化  有限通信
收稿时间:2012/1/16 0:00:00
修稿时间:2012/6/18 0:00:00

Localizing odor sources using multiple robots based on particle swarm
optimization in limited communication environments
ZHANG Jian-hu,GONG Dun-wei,ZHANG Yong.Localizing odor sources using multiple robots based on particle swarm
optimization in limited communication environments[J].Control and Decision,2013,28(5):726-730.
Authors:ZHANG Jian-hu  GONG Dun-wei  ZHANG Yong
Abstract:

Considering the constraint of limited communication among robots, a method of localizing odor sources using
multiple robots based on particle swarm optimization is presented on the condition of abstracting each robot as a particle.
Firstly, a strategy incorporating with a repulsive function is utilized to guide a robot to rapidly search for a plume. Then
the range of communication among robots is estimated based on the log-distance loss model of wireless signal propagation
to form a dynamic topology structure of a particle swarm and to determine the global optimum of particles. Finally, the
sampling/recovery time of a sensor is incorporated to update a particle so as to trace the plume. The proposed method is
applied to localize odor sources in three various scenarios and the experimental results show its effectiveness.

Keywords:odor source localization  multiple robots  particle swarm optimization  limited communication
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