湍流环境中多弱感知机器人气味源搜索算法

Odor source search employing multi-robots with limited perception in turbulence environments

针对湍流环境中机器人空间感知能力的不足,提出一种多弱感知机器人气味源搜索算法.该算法建立了气味源位置概率分布的近似表达式,机器人通过自由能最小化获得移动方向.各机器人之间通过共享位置信息实现协同,通过设定内部温度达到搜索过程中探索和利用的平衡.仿真结果验证了所提出算法的有效性.

An odor source search algorithm employing multi-robots with limited space perception in a turbulence environment is presented. In this algorithm, an approximate expression of the inferred position of the odor source is established, and the moving directions of robots are given by minimization of a free energy separately. The robots are coordinated with sharing their path each other. An internal temperature allows active control on the exploration/exploitation balance during the search. Simulation results show the effectiveness of the proposed method.