Effectiveness of Infotaxis Algorithm for Searching in Dilute Conditions
Both tracking scents and locating odor sources are challenges in robotics. The odor plume is not a continuous cloud but consists of intermittent odor patches dispersed by the wind. Far from the source, the probability of encountering one of these patches vanishes. In such dilute conditions, the Infotaxis algorithm is first ‘explore’ the environment and gather information, then ‘exploit’ current knowledge and direct toward the estimated source location. We quantitatively analyze its success probability, mean path length, percentage of oriented-movements, and average search time with different initial distances from the source. Through comparison with the Dung Beetle algorithm, we show the effectiveness of Infotaxis algorithm for the scenario with a single source and a single searcher in a dilute condition.
Robot Infotaxis Olfactory search Chemical plume
ZHANG Siqi CUI Rongxin XU Demin
College of Marine Engineering, Northwestern Polytechnical University, Xi’an 710072, P.R. China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
5048-5053
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）