Virtual Physics Framework for Multi-Robot Chemical Plume Tracing under Ventilated Indoor Condition

• Autorzy: Zou Y. , Chen W. , Luo D.

Warianty tytułu

PL

Wykorzystanie multi-robotów do śledzenia dymu w wentylowanych pomieszczeniach

• Języki publikacji: EN

Abstrakty

EN

This paper presents a virtual-physics based control framework for swarm robotic chemical plume tracing and source localization problem under ventilated indoor environment with complex turbulent conditions. The control force includes three kinds of effort, which are lattice formation force, plume tracing force, and obstacle avoidance force. The plume tracing and source identify strategy are based on the chemical mass flux passing through the robot colony. Simulation results show that the proposed control framework and tracing strategy can effectively navigate the multi-robot system to the chemical source emitter region. The virtual-physics based framework is highly flexible, endows the robot formation the properties of self-organization and self-repair. Compare to traditional approaches, the mass flux driven plume tracing can inhibit the robots from adhering to the obstacle-induced local density maxima and guide the robots forward to the real source region.

W artykule opisano metodę śledzenia smugi dymu chemicznego przy wykorzystaniu robotów oraz metodę wykrywania źródła dymu w pomieszczeniu wentylowanym przy zawirowaniu powietrza. Stosowane są trzy środki – określenie siatki, śledzenie dymu i eliminacja zjawiska. Roboty śledzące mogą się same organizować i naprawiać. W porównaniu do innych metod zaproponowana metoda zabezpiecza roboty przed zatrzymaniem się przy lokalnym maksimum i prowadzi je do źródła dymu.

Słowa kluczowe

EN

sensor network; robotics; chemical control

PL

sieć czujników; robot; śledzenie

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2013
• Tom: R. 89, nr 5
• Strony: 92--99
• Opis fizyczny: Bibliogr. 38 poz., rys., wykr.

Twórcy

autor

Zou Y.

• School of Automation Science and Electrical Engineering, Beihang University

autor

Chen W.

• School of Automation Science and Electrical Engineering, Beihang University

autor

Luo D.

• School of Information Engineering, Guangdong University of Technology

Bibliografia

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