Variable step-size odor tracing and source localization algorithm for mobile robot

doi:10.3778/j.issn.1002-8331.2009.02.070

Computer Engineering and Applications ›› 2009, Vol. 45 ›› Issue (2): 243-245.DOI: 10.3778/j.issn.1002-8331.2009.02.070

• 工程与应用 • Previous Articles Next Articles

Variable step-size odor tracing and source localization algorithm for mobile robot

WANG Jian¹,ZHAO He-ming²

1.Department of Electronic and Information Engineering，Suzhou University of Science & Technology，Suzhou，Jiangsu 215011，China
2.College of Electronic Information，Suzhou University，Suzhou，Jiangsu 215001，China

Received:2008-06-03 Revised:2008-08-28 Online:2009-01-11 Published:2009-01-11
Contact: WANG Jian

面向气味跟踪与定位的机器人变步长搜索算法

王俭¹,赵鹤鸣²

1.苏州科技大学电子与信息工程学院，江苏苏州 215011
2.苏州大学电子信息学院，江苏苏州 215001

通讯作者: 王俭

Abstract

Abstract: To perform the task of localization for underground odor source，it provides an algorithm of odor tracing-localization based on the hex-path algorithm of odor tracing.Through computer simulation work under the circumstances of even diffusion，new algorithm is proved to be feasible，effectual and practical.

Key words: active olfaction, odor source, tracing, localization, step-size

摘要： 面向在地面搜索地下气味源的任务，针对传统六边形路径搜索算法的不足，提出移动机器人依靠气体传感器的气味跟踪与气味源定位变步长搜索算法，并进行了非均匀土壤中实际扩散情况下的计算机仿真，证实改进算法是可行的、优越的和实用的，具有气味跟踪与气味源定位双重功能。

关键词: 主动嗅觉, 气味源, 跟踪, 定位, 步长

WANG Jian¹,ZHAO He-ming². Variable step-size odor tracing and source localization algorithm for mobile robot[J]. Computer Engineering and Applications, 2009, 45(2): 243-245.

王俭¹,赵鹤鸣². 面向气味跟踪与定位的机器人变步长搜索算法[J]. 计算机工程与应用, 2009, 45(2): 243-245.

[1]	XU Shaojie, CAO Chuqing, WANG Yongjuan. Application Research of Visual SLAM in Indoor Dynamic Scenes [J]. Computer Engineering and Applications, 2021, 57(8): 175-179.
[2]	ZHOU Yan, KUANG Hongzhang, MU Jinzhen, WANG Dongli, LIU Zongming. Improved Monocular ORB-SLAM for Semi-dense 3D Reconstruction [J]. Computer Engineering and Applications, 2021, 57(8): 180-184.
[3]	ZONG Xiaoping, TAO Zeze. Knowledge Tracing Model Based on Mastery Speed [J]. Computer Engineering and Applications, 2021, 57(6): 117-123.
[4]	CHENG Shuai, WU Huafeng, MEI Xiaojun. Alternative Nonnegative Constrained Framework-Based Cooperative Localization Algorithm in Ocean Sensor Networks [J]. Computer Engineering and Applications, 2021, 57(23): 129-136.
[5]	XIE Xiong, YANG Jinpeng. YOLO-wLU：Object Detection Algorithm Considering Localization Uncertainty [J]. Computer Engineering and Applications, 2021, 57(22): 223-231.
[6]	LIANG Kun, REN Yimeng, SHANG Yuhu, ZHANG Yiying, WANG Cong. Review of Knowledge Tracing Preprocessing Based on Deep Learning [J]. Computer Engineering and Applications, 2021, 57(21): 41-58.
[7]	YANG Shiqiang, BAI Lele, ZHAO Cheng, WANG Guodong, LI Dexin. Improved Qtree_ORB Algorithm [J]. Computer Engineering and Applications, 2021, 57(20): 82-89.
[8]	YANG Shiqiang, FAN Guohao, BAI Lele, ZHAO Cheng, LI Dexin. Geometric Constraint-Based Visual SLAM Under Dynamic Indoor Environment [J]. Computer Engineering and Applications, 2021, 57(16): 203-212.
[9]	CHENG Liming, CHEN Jianxin, CHEN Rui, CHEN Zhimin. Visual Odometry with Self-Supervised Monocular Depth Estimation [J]. Computer Engineering and Applications, 2021, 57(15): 230-236.
[10]	LUO Hanwu, LI Wenzhen, PAN Fucheng, JU Xiaoming. Progressive Adversarial Learning for Weakly Supervised Object Localization [J]. Computer Engineering and Applications, 2021, 57(14): 187-193.
[11]	WANG Jie, HUANG Lixia, ZHANG Xueying. Multi-source Location of Speech Signal Based on Improved DSB Method [J]. Computer Engineering and Applications, 2021, 57(1): 173-180.
[12]	WANG Qingshan, ZHANG Jun, LIU Yuansheng, ZHANG Xinchen. Point Cloud Registration Algorithm Based on Combination of NDT and ICP [J]. Computer Engineering and Applications, 2020, 56(7): 88-95.
[13]	YANG Shuang, ZENG Bi, HE Weiting. Research on SLAM Technology Combining Semantic Laser and Landmark Information [J]. Computer Engineering and Applications, 2020, 56(18): 262-271.
[14]	LIU Mingqin, ZHANG Xiaoguang, XU Guiyun, LI Zongzhou. Review of Development of Single Robot SLAM Technology and Related Mainstream Technology [J]. Computer Engineering and Applications, 2020, 56(18): 25-35.
[15]	XIONG Hang, YANG Rennong, LIANG Xiaolong, HOU Yueqi, WANG Weijia. 3D AOA Localization Using UAVs Monocular Vision [J]. Computer Engineering and Applications, 2020, 56(17): 210-216.

Variable step-size odor tracing and source localization algorithm for mobile robot

面向气味跟踪与定位的机器人变步长搜索算法

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics