Chemical concentration map building through bacterial foraging optimization based search algorithm by mobile robots
Date
2010Source Title
2010 IEEE International Conference on Systems, Man and Cybernetics
Print ISSN
1062-922X
Publisher
IEEE
Pages
3242 - 3249
Language
English
Type
Conference PaperItem Usage Stats
148
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126
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Abstract
In this article we present implementation of Bacterial Foraging Optimization algorithm inspired search by multiple robots in an unknown area in order to find the region with highest chemical gas concentration as well as to build the chemical gas concentration map. The searching and map building tasks are accomplished by using mobile robots equipped with smart transducers for gas sensing called "KheNose". Robots perform the search autonomously via bacterial chemotactic behavior. Moreover, simultaneously the robots send their sensor readings of the chemical concentration and their position data to a remote computer (a base station), where the data is combined, interpolated, and filtered to form an real-time map of the chemical gas concentration in the environment. ©2010 IEEE.
Keywords
Bacterial foraging optimizationBacterial foraging optimization algorithms
Chemical concentrations
Gas concentration
Gas sensing
Map Building
Multiple robot
Position data
Remote computers
Search Algorithms
Sensor readings
Smart transducers
Algorithms
Bacteriology
Cybernetics
Mobile robots
Optimization
Concentration (process)