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

Date
2010
Advisor
Instructor
Source Title
2010 IEEE International Conference on Systems, Man and Cybernetics
Print ISSN
1062-922X
Electronic ISSN
Publisher
IEEE
Volume
Issue
Pages
3242 - 3249
Language
English
Type
Conference Paper
Journal Title
Journal ISSN
Volume Title
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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Book Title
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)
Citation
Published Version (Please cite this version)