摘要
提出了一种基于动物捕食行为的机器人味源定位策略;该策略融合了气体传感器、风向传感器、超声传感器等传感器信息,考虑了搜寻味源过程中的避障及重复搜索问题,并给出了确认味源的条件.在动态的室内环境下,令机器人搜寻酒精泄漏源,结果表明,这种策略具有较高的搜寻效率和成功率.
A gas/odor source localization strategy based on animal predatory behavior is presented, which fuses the information from gas sensors, wind direction sensors, ultrasound sensors, etc. Such problems in the gas/odor source searching process as obstacle avoidance and repetitive search are considered, and the conditions for gas/odor source confirmation are pres.ented. Experiments are made for the robot to search a leaking bottle with alcohol in a dynamic indoor environment, and the results validate the high efficiency and validity of the presented localization strategy.
出处
《机器人》
EI
CSCD
北大核心
2008年第3期268-272,共5页
Robot
基金
国家863计划资助项目(2006AA04Z221)
河北省自然科学基金资助项目(E2007000069)
关键词
气味源定位
移动机器人
动物捕食策略
气体传感器
gas/odor source localization
mobile robot
animal predatory strategy
gas sensor
