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A distributed coordination control scheme for odor source localization

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2 Author(s)
Qiang Lu ; Centre for Intell. & Networked Syst., Central Queensland Univ., Rockhampton, QLD, Australia ; Qing-Long Han

This paper deals with the problem of odor source localization using multiple mobile robots. A distributed coordination control scheme is proposed by introducing a trajectory level into the original distributed architecture. In the trajectory level, a spiral model is designed and used to deal with a new robot position produced by cooperative search algorithms in order to generate a spiral trajectory that can describe position transition from the current position of the robot to the new position. The effectiveness of the distributed coordination control scheme is illustrated in the problem of odor source localization.

Published in:

IECON 2010 - 36th Annual Conference on IEEE Industrial Electronics Society

Date of Conference:

7-10 Nov. 2010