By Topic

Wheeled mobile robot control using virtual pheromones and neural networks

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Filipescu, A. ; Dept. of Autom. & Ind. Inf., Univ. Dunarea de Jos of Galati, Galati, Romania ; Susnea, I. ; Filipescu, S. ; Stamatescu, G.

This paper presents a novel approach on the implementation of the concept of ¿virtual pheromones¿ for use in controlling autonomous mobile robots. Rather than being deployed in the environment, the virtual pheromones are stored in a map of the environment maintained and updated by a ¿pheromone server¿. This map acts like a shared memory for all the agents, by means of a radio communication link between each agent and the pheromone server. No direct communication between agents is required. The pheromone server can be implemented on a regular computer, a handheld device, or an embedded controller carried by a leader robot. The technique described is equally applicable for guiding individual robot and robot swarms. The experiments, performed with mobile robot Pioneer 3-DX show that this method allows significant simplification and cost reduction of the autonomous agents. Several possible applications are discussed.

Published in:

Control and Automation, 2009. ICCA 2009. IEEE International Conference on

Date of Conference:

9-11 Dec. 2009