A New Navigation of Behavior-Based Olfactory Mobile Robot

Nurmaini, Siti and Tutuko, Bambang and T, Iman Aulia Rahman (2014) A New Navigation of Behavior-Based Olfactory Mobile Robot. Applied Mechanics and Materials, 446-44 (-). pp. 1255-1260. ISSN 1660 9336


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Official URL: http://www.scientific.net/AMM.446-447.1255


In this paper a new olfactory mobile robot application is proposed where dynamic olfaction system is used on a mobile robot in order to acquire the gas/odour property of objects. Olfaction system with two dynamic gas/odour sensors can be moved in in order to be able to detect source in many directions. We examine the problem of deciding when, how and where the gas/odour sensor should be activated by planning for active perception use behavior-based architecture. Simple form of cooperation between Fuzzy Logic control and Particle Swarm Optimization (PSO) is implemented in the navigation strategies. The real experiments performed on a simple mobile robot equipped with dynamic gas/odour sensor and three infra-red sensor. The initial result shows that olfactory mobile robot that is capable of locating the source of a simulated chemical leak in an environment while detecting and avoiding obstacles along its path

Item Type: Article
Subjects: T Technology > T Technology (General) > T1-995 Technology (General)
Divisions: Faculty of Computer Science > 56401-Computer Engineering (D3)
Depositing User: Dr. Ir. MT Siti Nurmaini
Date Deposited: 30 Sep 2019 03:17
Last Modified: 30 Sep 2019 03:17
URI: http://repository.unsri.ac.id/id/eprint/8826

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