Odor source localization research of mobile robot based on neural network

Author

Cui, Genqun ; Ren, Kun ; Li, Chunshu ; Wang, Zhen

Author_Institution

Sch. of Mech. Eng., Hebei Univ. of Technol., Tianjin, China

Volume

2

fYear

2011

fDate

22-23 Oct. 2011

Firstpage

130

Lastpage

133

Abstract

A new method for localizing odor source by mobile robot is proposed in this paper. With the information of the wind and the concentration gradient, Wasps can find odor source in a short time. However, it is very difficult for mobile robots to mimic the behaviors of wasps exactly. So, besides the bionics, BP neural network is adopted for the mobile robot to find the odor source. A simulated environment which had the information of obstacles, concentration field, the direction and the velocity of the wind and the odor source was produced by Fluent and MATLAB. In this simulated environment, the mobile robot was tested to trace the odor plumes and found the odor source. So, this algorithm is feasible and effective for the odor source localization.

Keywords

backpropagation; chemioception; collision avoidance; mobile robots; neurocontrollers; wind; BP neural network; Fluent; MATLAB; bionics; concentration field; concentration gradient; mobile robot; obstacle; odor plumes; odor source localization; velocity; wasp; wind; Computer languages; Robot sensing systems; MATLAB; concentration gradient; mobile robot; neural network; odor source localization;

fLanguage

English

Publisher

ieee

Conference_Titel

System Science, Engineering Design and Manufacturing Informatization (ICSEM), 2011 International Conference on

Conference_Location

Guiyang

Print_ISBN

978-1-4577-0247-1

Type

conf

DOI

10.1109/ICSSEM.2011.6081256

Filename

6081256