稀疏环境中信息趋向性搜索算法性能分析-机器人.PDF

35 4 ROBOT Vol.35, No.4 2013 7 Jul., 2013 DOI 10.3724/SP.J.1218.2013.00432 710072 E.coli Dung Beetle Spiral-Surge TP24 A 1002-0446(2013)-04-0432-07 Performance Analysis on the Infotaxis Algorithm for Searching in Dilute Environments ZHANG Siqi CUI Rongxin XU Demin (College of Marine Engineering, Northwestern Polytechnical University, Xi’an 710072, China) Abstract: The performance of searching an odor source in dilute environments by employing the infotaxis algorithm is evaluated. The infotaxis algorithm is introduced, and a quantitative analysis is conducted from three aspects: (i) the success rate and average path length of the infotaxis algorithm and traditional algorithms (E.coli algorithm, Dung Beetle algorithm and Spiral-Surge algorithm); (ii) the wind-oriented movements and average searching time of the infotaxis algorithm in cases of long distance and short distance; (iii) the influence of quadrilateral and hexagonal path units. Simulation results are provided to show the effectiveness of the infotaxis algorithm in dilute environments. Keywords: infotaxis algorithm; odor source localization; mobile robot; dilute environment 1 Introduction 1 Tab.1 The classification of biologically inspired odor source localization strategies [1] [2] E.coli [5-6]