A New Navigation of Behavior-Based Olfactory Mobile Robot
| Main Authors: | Nurmaini, Siti, Tutuko, Bambang, Aulia Rahman T, Iman |
|---|---|
| Format: | Article PeerReviewed application/pdf |
| Terbitan: |
Trans Tech Publications, Switzerland
, 2014
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| Subjects: | |
| Online Access: |
http://eprints.unsri.ac.id/3404/1/AMM.446%2D447.1255(icema).pdf http://www.scientific.net/AMM.446-447.1255 http://eprints.unsri.ac.id/3404/ |
Daftar Isi:
- In this paper a new olfactory mobile robot application is proposed where dynamic olfaction system is used on a mobile robot in order to acquire the gas/odour property of objects. Olfaction system with two dynamic gas/odour sensors can be moved in in order to be able to detect source in many directions. We examine the problem of deciding when, how and where the gas/odour sensor should be activated by planning for active perception use behavior-based architecture. Simple form of cooperation between Fuzzy Logic control and Particle Swarm Optimization (PSO) is implemented in the navigation strategies. The real experiments performed on a simple mobile robot equipped with dynamic gas/odour sensor and three infra-red sensor. The initial result shows that olfactory mobile robot that is capable of locating the source of a simulated chemical leak in an environment while detecting and avoiding obstacles along its path