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Yanzi Miao
China University of Mining and Technology

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A Virtual Physics-based Approach to Multiple Odor Sources Localization Xiaoping Ma; Yuli Zhang; Yanzi Miao
Indonesian Journal of Electrical Engineering and Computer Science Vol 12, No 7: July 2014
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v12.i7.pp5331-5341

Abstract

The detection of an odor source location has been enhanced by using multiple plume-tracing mobile robots. So far, many researchers focus on locating a single source in varied environments. The present study is concerned with the problem of multiple chemical sources localization using multi-robot system. In this study, multiple groups of robots were used and coordinated by a multi-robot cooperation strategy with virtual physics force, which includes structure formation force, goal force, repulsion force and rotary force. In order to test the effectiveness of the proposed strategy, plume model with two sources was constructed by computation fluid dynamics simulations. Simulation experiment discussed the influence of the varied frequencies of wind direction/ speed and methane release with different initial positions of multiple groups to the search performance. Simulation comparison experiments using three kinds of plume tracing algorithms: chemotaxis, anemotaxis and fluxotaxis were carried out respectively and the comparative result about three plume tracing algorithms was illustrated.
Chemical Source Localization using Mobile Robots in Indoor Arena Yuli Zhang; Xiaoping Ma; Yanzi Miao
Indonesian Journal of Electrical Engineering and Computer Science Vol 11, No 7: July 2013
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar

Abstract

This paper presents a virtual-physics force based control strategy for swarm robotic chemical source localization. The control force includes: structure formation force, goal force, and obstacle avoidant force. For swarm formation, the robots maintain the regular polygon formation and a virtual robot is located at the center of the polygon. The motion of the virtual robot depends on the goal force which obtained from the sensor observations of the robots. Once the virtual robot moved to a new place, the robots would also move as a single body with the structure formation force and obstacle avoidant force. In this paper, we adopted chemotaxis as plume tracing algorithms. Simulation experiments in indoor arena without obstacle and with obstacles using different robot number are carried out respectively, and the results show that the proposed strategy can effectively navigate the mobile robotics swarms to the chemical source once selecting proper number of robots. DOI: http://dx.doi.org/10.11591/telkomnika.v11i7.2819 
Co-Authors Xiaoping Ma Yuli Zhang