Chemical concentration map building through bacterial foraging optimization based search algorithm by mobile robots

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Chemical concentration map building through bacterial foraging optimization based search algorithm by mobile robots.pdf (1.97 MB)

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2010

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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.

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2010 IEEE International Conference on Systems, Man and Cybernetics

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IEEE

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Keywords

Bacterial foraging optimization, Bacterial 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)

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http://hdl.handle.net/11693/28458

Published Version (Please cite this version)

http://dx.doi.org/10.1109/ICSMC.2010.5642297

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Scholarly Publications - Electrical and Electronics Engineering

Language

English

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Conference Paper