Intelligent Mobile Olfaction of Swarm Robots

Nurmaini, Siti and Tutuko, Bambang (2013) Intelligent Mobile Olfaction of Swarm Robots. International Journal of Robotics and Automation (IJRA), 2 (4). pp. 189-198. ISSN 2089-4856

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    Abstract

    This work presents intelligent mobile olfaction design and experimental results of intelligent swarm robots to detection a gas/odour source in an indoor environment by using multi agent based on hybrid algorithm. We examine the problem for deciding when, how and where the gas/odour sensor should be activated. Simple form of cooperation between Interval Type-2 Fuzzy Logic and Particle Swarm Optimization (IT2FL-PSO) algorithm is implemented in the olfaction strategies. The real experiments performed on smaller five mobile robots equipped with dynamic gas/odour sensor TGS2600 and three infra-red sensors. The results show that single robot-based olfaction system with 5 behaviors capable for searching source of a simulated chemical leak in unknown environment and flooking behavior can be done by 3 robots to find the source of gas/odour.

    Item Type: Article
    Subjects: T Technology > Computer Engineering
    Divisions: Faculty of Computer Science > Department of Computer Engineering
    Depositing User: Dr. Ir. MT. Siti Nurmaini Asmawie
    Date Deposited: 31 Jan 2014 15:41
    Last Modified: 31 Jan 2014 15:41
    URI: http://eprints.unsri.ac.id/id/eprint/3403

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