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时变流场环境中机器人跟踪气味烟羽方法 被引量：11

Tracing Odor Plume by Robot in Time-variant Flow-field Environments
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摘要 机器人对气味烟羽的可靠跟踪是实现气味源定位的关键.本文主要针对实际时变流场环境中的机器人跟踪气味烟羽问题进行研究.文中在机器人测得气味时估计气味包的最大可能路径,在此基础上结合流向信息,规划搜寻路径并使机器人沿此路径运动以跟踪气味烟羽.考虑到气味浓度场的时变特性以及可能存在的基本浓度,采用浓度相对变化量表征气味信息.室内时变流场环境实验表明,使用本文所提方法的机器人可实时、有效地跟踪烟羽并趋向气味源. The reliable plume tracing is a critical issue for the implementation of odor source localization. This paper addresses the problem of tracing plume by a mobile robot in real time-variant flow-field environments. An estimatimation of the most likely path taken by the odor patch is to be done whenever the odor patch is detected by the gas sensor mounted on the mobile robot. Subsequently, a searching path is calculated and followed by the mobile robot to trace the odor plume with consideration of the likely odor path estimated and the flow direction at current time. The relative change of odor concentration is adopted as the concentration field is time-variant and might have a common foundational concentration. The experiment result in the indoor time-variant airflow-field environment has show that the mobile robot can be effectively guided in real time with the proposed method in tracing plume and reaching the odor source.
作者 李吉功 孟庆浩 李飞 蒋萍 曾明
机构地区 天津大学电气与自动化工程学院
出处 《自动化学报》 EI CSCD 北大核心 2009年第10期1327-1333,共7页 Acta Automatica Sinica
基金 国家高技术研究发展计划(863计划)(2007AA04Z219) 国家自然科学基金(60875053 60802051) 新世纪优秀人才支持计划资助~~
关键词 移动机器人 主动嗅觉 时变流场 烟羽跟踪 Mobile robot, active olfaction, time-variant flow field, plume tracing
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献16

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二级参考文献36

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共引文献40

同被引文献89

  • 1孟庆浩,李飞.主动嗅觉研究现状[J].机器人,2006,28(1):89-96. 被引量：41
  • 2匡兴红,邵惠鹤.无线传感器网络在气体源预估定位中的应用[J].华东理工大学学报（自然科学版）,2006,32(7):780-783. 被引量：5
  • 3匡兴红,邵惠鹤.基于WSN的两种气体源定位算法研究[J].仪器仪表学报,2007,28(2):298-302. 被引量：8
  • 4Bhalla U S, Bower J M. Multiday recordings from olfactory bulb neurons in awake freely moving rats: Spatially and tem- porally organized variability in odorant response properties[J]. Journal of Computational Neuroscience, 1997, 4(3): 221-256.
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引证文献11

二级引证文献45

自动化学报
2009年 第10期

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