Decision-making in a multi-robot system for odor source localization

摘要

This paper deals with the problem of odor source localization using multiple mobile robots. A cooperative control solution, which is used to coordinate the robot group to locate the odor source, is proposed and independently executed by each robot. Firstly, a particle filter, which can estimate the position of the odor source by using all observations among the robot group, is used. Secondly, based on the estimated position of the odor source, a movement direction is planned by a leader robot, which currently detects odor clues. Thirdly, two decision-making control laws, which can enable the robot group to make a parallel motion or a circular motion in terms of the planned direction and the estimated position of the odor source, are developed. Finally, the performance capabilities of the proposed cooperative control solution are illustrated for the problem of odor source localization.