A behavior-based architecture for multi-robot chemical source localization and its implementation with evolutionary computation
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)(2015)
摘要
Chemical source localization (CSL) is significant for the protection of public security. In typical CSL problems, a collaborative group of multiple robots are expected to perform better than a single robot. This paper proposes a behavior-based multi-robot chemical source localization (BbMR-CSL) architecture. It includes three group behaviors, i.e., the chemical finding, chemical source tracing (CST), and chemical source declaration behaviors, among which the CST behavior is further divided into two individual behaviors. A hierarchical behavior selection method is designed for coordinating the behaviors in the BbMR-CSL architecture. Then, a method framework is also proposed for combining evolutionary computation (EC) with the BbMR-CSL architecture. Based on the proposed framework, three typical EC algorithms (i.e., the genetic algorithm, the artificial bee colony algorithm (ABC), and the global-best-guided ABC) are implemented in the BbMR-CSL architecture. The resulting behavior-based CSL methods were tested and compared in a simulated filamentous plume environment.
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关键词
behavior-based architecture,evolutionary computation,public security,CSL problems,collaborative group,multiple robots,single robot,behavior-based multirobot chemical source localization,BbMR-CSL architecture,chemical source tracing,chemical source declaration behaviors,CST behavior,hierarchical behavior selection method,EC,behavior-based CSL methods,simulated filamentous plume environment
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