A Guidance and Control Algorithm for Scent Tracking Micro-Robotic Vehicle Swarms-Reference-Cited by-同舟云学术

A Guidance and Control Algorithm for Scent Tracking Micro-Robotic Vehicle Swarms

Published:1998-09-01 Issue:3 Volume:120 Page:353-359
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Dohner J. L.¹

Affiliation:

1. Sandia National Laboratories, Department 9234, MS0439, Albuquerque, NM 87185-0439

Abstract

Cooperative micro-robotic scent tracking vehicles are designed to collectively “sniff out” locations of high scent concentrations in unknown, geometrically complex environments. These vehicles are programed with guidance and control algorithms that allow inter cooperation among vehicles. In this paper, a cooperative guidance and control algorithm for scent tracking micro-robotic vehicles is presented. This algorithm is comprised of a sensory compensation sub-algorithm using point source cancellation, a guidance sub-algorithm using gradient descent tracking, and a control sub-algorithm using proportional feedback. The concepts of social rank and point source cancellation are new concepts introduced within. Simulation results for cooperative vehicles swarms are given. Limitations are discussed.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/120/3/353/5634168/353_1.pdf

Reference13 articles.

1. Anderson, D. A., Tannehill, C. J., and Pletcher, H. R., 1984, Computational Fluid Mechanics and Heat Transfer, Hemisphere Publishing, New York, NY.

2. Bemporad, A., De Luca, A., and Giuseppe, O., 1996, “Local Incremental Planning for a Car-Like Robot Navigating among Obstacles,” IEEE International Conference on Robotics and Automation, No. 2, pp. 1205–1211.

3. Brooks R. A. , 1986, “A Robust Layered Control Systems for a Mobile Robot,” IEEE Journal of Robotics and Automation, Vol. RA-2, No. 1, Mar., pp. 14–23.

4. Feddema, J. T., Kwan, S. K., Driessen, B. J., Spletzer, B. L., and Weber, T. M., 1997, “Miniature Autonomous Robotic Vehicle (MARV),” Unpublished Sandia National Laboratories Document.

5. Gerald, C. F., 1980, Applied Numerical Analysis, 2nd Edition, Addison, Reading, MA, May.

Cited by 2 articles. 订阅此论文施引文献订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献

1. Rapid Information Transfer in Swarms Under Update-Rate-Bounds Using Delayed Self-Reinforcement;Journal of Dynamic Systems, Measurement, and Control;2019-03-25

2. Tumbleweed Rover Science Mission to Dao Vallis;44th AIAA Aerospace Sciences Meeting and Exhibit;2006-01-09