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首页多机器人协作:基于香农熵的未知气味源定位策略
多机器人协作:基于香农熵的未知气味源定位策略
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更新于2024-08-26
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本文主要探讨了基于香农熵的多机器人未知气味源定位问题,针对这一挑战性任务,研究者提出了一种集体决策机制以及针对多个移动机器人设计的有限时间运动控制算法。该方法首先通过构建离散网格地图来模拟搜索环境,将搜索空间分解成一个个可管理的单元,以便于处理不确定性。 在集体决策机制中,利用后验概率分布对目标气味源的位置进行实时更新。每当有检测事件(如机器人探测到气味)或非检测事件(未找到气味)发生时,都会根据这些信息调整对气味源位置的概率估计。香农熵被引入作为决策工具,其定义为概率分布的不确定度,这使得机器人团队能够集体评估当前信息并选择最优的行动方向,以最大程度地减少不确定性。 在运动控制方面,文章描述了两种有限时间运动控制算法:平行运动控制算法和循环运动控制算法。这些算法确保机器人能够在有限的时间内高效地执行任务,避免障碍物,并在确定性条件下快速接近目标区域。为了进一步增强实用性,研究人员还对这两种算法进行了扩展,使得机器人能够在面临复杂环境和不确定性时,灵活调整其移动策略。 这项研究将香农熵理论与移动机器人协作定位技术相结合,旨在提高多机器人系统在未知环境中寻找和定位气味源的效率和准确性。通过集体决策和优化的运动控制,该方法有望在实际应用中,如环境监测、搜救任务和工业自动化等领域发挥重要作用。
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Localization of Unknown Odor Source Based on
Shannon’s Entropy Using Multiple Mobile Robots
Qiang Lu, Yang He, and Jian Wang
School of Automation, Hangzhou Dianzi University, Hangzhou, 310018, China
Email: lvqiang@hdu.edu.cn
Abstract—This paper deals with the problem of odor source
localization by designing a collective decision-making mechanism
based on Shannon’s entropy and using two finite-time motion
control algorithms for multiple mobile robots. Specifically, for
the collective decision-making mechanism, a discrete grid map is
first used to model the search environment. Then, the posteriori
probability distribution for the position of the odor source on
the discrete grid map is recursively updated by the detection
events and non-detection events. Next, the Shannon’s entropy
for the probability distribution is employed to collectively make
the decision on the movement direction of the robot group.
For the motion control, the finite-time parallel motion control
algorithm and the finite-time circular motion control algorithm
are described. Moreover, two motion control algorithms are
further extended in order to enable the robot group to avoid
obstacles. Finally, the effective of the collective decision-making
mechanism and two finite-time motion control algorithms is
illustrated for the problem of odor source localization.
Index Terms—odor source localization; Shannon’s entropy;
multiple mobile robots; posteriori p robability distribution
I. INTRODUCTION
In the last two decades, the problem of odor source local-
ization has been widely studied based on a single robot in
the science and engineering field [1], [3]. On the other hand,
using the multiple mobile robots to locate the odor source has
also received much attention from researchers due to a major
advantage, i.e. a wider detection range, which can enable the
robot group to better capture the time-varying plume.
There exist two classes of solutions for controlling the
multi-robot systems: one is the the particle swarm optimization
(PSO) algorithm [2], [4]–[7], [10] while another is decision-
control solution [8], [9]. For example, Jatmiko et al. (2007)
[2] proposed the charged PSO algorithm (CPSO) to coordinate
the multiple mobile robots where two types of robots (neutral
and charged robots) are used to search for the odor source.
On the basis of the CPSO algorithm, Jatmiko et al. (2007) [2]
further gave two wind utility algo rithms: one is the WUI-45
algorithm while the other is the WUII algorithm. For the WUI-
45 algorithm and the WUII algorithm, the wind information
is simply employed to guide the movement direction of the
robot group. By analyzing the PSO algorithm, Lu and Han
(2011) [6] put forth a probability particle swarm optimization
with information-sharing mechanism (PPSO-IM) algorithm to
control the robot group such that the robot group is guided
to search for the approp riate rang e with a higher probability.
However, the wind information is still not better utilized
in the above solutions, which results in appearance of the
“soft sensor” [4], [5]. By the “soft sensor”, the position of
the odor source can be “observed”. In terms of the “soft
sensor”, Lu and Han (2014) [7] proposed a finite-time particle
swarm optimization algorithm (FPSO) algorithm such that
the odor clues can be quickly captured. By summarizing the
aforementioned research results, Lu and Han (2013,2014) [8],
[9] gave the decision-control solution where the “soft sensor”
and the decision mechanism applied in PSO algorithms are
used to make decision on movement direction and the finite-
time motion controllers are employed to coordinate the multi-
robot systems to quickly and orderly track the time-varying
plume. It should be pointed out that the “soft sensor” only
works when the robot detects the odor clues, which implies
that non-detection events are not fully taken into account and
two issues arise. One issue is that how to use the non-detection
events to improve the observation results of the “soft sensor”
while the other issue is how to utilize the observation results
to orient the movement direction of the robot group in order
to collect the much odor information. Therefore, how to deal
with the two issues is the motivation of the current study.
In this paper, we will deal with the problem of odor
source localization by designing a collective decision-making
mechanism based on Shannon’s entropy and using two finite-
time motion control algorithms for multiple mobile robots. For
the collective decision-making mechanism, we will first make
use of a discrete grid map to model the search environment
such that the updating methods of probability distribution on
the position of the odor source can be established. Second, by
means of the Shannon’s entropy for the probability distribution
on the position of the odor source, we will plan the movement
direction of the robot group. Third, we will describe the finite-
time parallel motio n control algorithm and the finite-time
circular motion control algorithm. Finally, we will illustrate
the effectiveness of the collective decision-making mechanism
and two finite-time motion control algorithms for odor source
localization.
II. C
OLLECTIVE DECISION-MAKING BASED ON
SHANNON’S ENTROPY
In this section, we first make use of a discrete map to model
the search env ironment, and then derive a posteriori probability
distribution on the position of the odor source. Finally, based
on the Shannon’s entropy, we give the movement direction of
the robot group.
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