olfaction and hearing based mobile robot navigation for odorsound source search嗅觉和听觉为基础的移动机器人导航odorsound源搜索.pdfVIP

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olfaction and hearing based mobile robot navigation for odorsound source search嗅觉和听觉为基础的移动机器人导航odorsound源搜索.pdf

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olfaction and hearing based mobile robot navigation for odorsound source search嗅觉和听觉为基础的移动机器人导航odorsound源搜索

Sensors 2011, 11, 2 129-2154; doi:10.3390/s110202129 OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Olfaction and Hearing Based Mobile Robot Navigation for Odor/Sound Source Search Kai Song *, Qi Liu and Qi Wang School of Electrical Engineering and Automation, Harbin Institute of Technology, Harbin 150001, China; E-Mails: shf67@126.com (Q.L.); wangqi@ (Q.W.) * Author to whom correspondence should be addressed; E-Mail: kaisong@; Tel.: +86-45 1-8641-5440-16; Fax: +86-451-8641-3621-812. Received: 17 December 2010; in revised form: 11 January 2011 / Accepted: 10 February 2011 / Published: 11 February 2011 Abstract: Bionic technology provides a new elicitation for mobile robot navigation since it explores the way to imitate biological senses. In the present study, the challenging problem was how to fuse different biological senses and guide distributed robots to cooperate with each other for target searching. This paper integrates smell, hearing and touch to design an odor/sound tracking multi-robot system. The olfactory robot tracks the chemical odor plume step by step through information fusion from gas sensors and airflow sensors, while two hearing robots localize the sound source by time delay estimation (TDE) and the geometrical position of microphone array. Furthermore, this paper presents a heading direction based mobile robot navigation algorithm, by which the robot can automatically and stably adjust its velocity and direction accordi