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稀疏环境中信息趋向性搜索算法性能分析 被引量：6

Performance Analysis on the Infotaxis Algorithm for Searching in Dilute Environments
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摘要 综合评价了稀疏环境中机器人利用信息趋向性算法进行气味源搜索的性能.首先介绍了信息趋向性算法,随后分情况对该算法进行了定量分析.共进行了三方面的仿真分析与比较:①比较了信息趋向性算法与传统气味源搜索算法中具有代表性的E.coli算法、Dung Beetle算法和Spiral-Surge算法的搜索成功率和平均路径长度;②比较了长距离和短距离情况下信息趋向性算法的运动风向性和平均搜索时间;③比较了四边形和六边形路径单元对信息趋向性算法性能的影响.仿真结果表明,信息趋向性算法在稀疏环境中具有良好的搜索性能. The performance of searching an odor source in dilute environments by employing the infotaxis algorithm is evaluated.The infotaxis algorithm is introduced,and a quantitative analysis is conducted from three aspects：（i） the success rate and average path length of the infotaxis algorithm and traditional algorithms（E.coli algorithm,Dung Beetle algorithm and Spiral-Surge algorithm）;（ii） the wind-oriented movements and average searching time of the infotaxis algorithm in cases of long distance and short distance;（iii） the influence of quadrilateral and hexagonal path units.Simulation results are provided to show the effectiveness of the infotaxis algorithm in dilute environments.
作者 张思齐 崔荣鑫 徐德民
机构地区 西北工业大学航海学院
出处 《机器人》 EI CSCD 北大核心 2013年第4期432-438,共7页 Robot
基金 国家自然科学基金资助项目(51209174) 机器人技术与系统国家重点实验室开放研究项目(SKLRS-2012-MS-04) 西北工业大学基础研究基金资助项目(JCY20130113)
关键词 信息趋向性算法 气味源定位 移动机器人 稀疏环境 infotaxis algorithm odor source localization mobile robot dilute environment
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
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参考文献22

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共引文献43

同被引文献46

  • 1孟庆浩,李飞.主动嗅觉研究现状[J].机器人,2006,28(1):89-96. 被引量：41
  • 2李俊彩,孟庆浩,梁琼.基于进化梯度搜索的机器人主动嗅觉仿真研究[J].机器人,2007,29(3):234-238. 被引量：17
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机器人
2013年 第4期

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