A New Navigation of Behavior-Based Olfactory Mobile Robot

Nurmaini, Siti and Tutuko, Bambang and Aulia Rahman T, Iman (2014) A New Navigation of Behavior-Based Olfactory Mobile Robot. Applied Mechanics and Materials, 446-44 (-). pp. 1255-1260. ISSN 1660 9336

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    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

    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/3404

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