By Topic

Forming an artificial pheromone potential field using mobile robot and RFID tags

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

2 Author(s)
Piljae Kim ; Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Tokyo, Japan ; Kurabayashi, D.

In the biological world, social insects such as ants and bees use a volatile substance called pheromone for their foraging or homing tasks. This study deals with how to utilize the concept of the chemical pheromone as an artificial potential field for robotic purposes. This paper first models a pheromone-based potential field, which is constructed through the interaction between mobile robot and RFID tags. The emphasis in the modeling of the system is on the possibility of the practical implementable ideas. The stability analysis of the pheromone potential field is carried out with the aim of implementing the model on a real robotic system. The comprehensive analysis on stability provides the criteria for how the parameters are to be set for the proper potential field, and has also led to a new filter design scheme called pheromone filter. The designed filter satisfies both the stability and accuracy of the field, and facilitates a more straightforward and practical implementation for building and shaping the potential field. The effectiveness of the proposed algorithm is validated through both computer simulation and real experiment.

Published in:

System Integration (SII), 2011 IEEE/SICE International Symposium on

Date of Conference:

20-22 Dec. 2011