Odor source localization with a multi-robot system
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Authors
Zhang, Linfeng
Xiong, Xingguo
Hu, Junling
Issue Date
2008-12-05
Type
Article
Language
en_US
Keywords
Engineering , Robotics , Parallel processing , Robot sensing system
Alternative Title
Abstract
Multiple robots with chemical sensors as a dynamic distributed system are more efficient to localize the toxic gas source as terrorist attack, while this gas source can be stationary or mobile. In this paper, the gas concentration fields at different wind speeds constructed in two dimensions and the concentration distribution can be continuous or discontinuous. At the beginning, the robots are randomly deployed in this field. Each robot estimates the location of the gas source. The search algorithm and the sensing frequency of the robot are affected by the sensor sensitivity and response time. Then, all of the information from the robots is processed by a dynamic central robot for a more precise estimation. This central robot also determines the fleet size, tasks to the other robots, and possibility of catching the gas source if it is mobile. The whole system is developed as a platform with Posix Threads programming for the research and education in the future.
Description
Citation
Publisher
Springer