Multi-source Signals Guiding Swarm Robots Search

  • Authors:

  • Songdong Xue;Jianchao Zeng;Jing Du;Xiaomei Yang

  • Affiliations:

  • College of Electrical and Information Engineering, Lanzhou University of Technology, Lanzhou, China 730050 and Complex System and Computational Intelligence Laboratory, Taiyuan University of Scien ...;Complex System and Computational Intelligence Laboratory, Taiyuan University of Science and Technology, Taiyuan, China 030024;North Automatic Control Technology Institute, China North Industries Group Corporation, Taiyuan, China 030006;Complex System and Computational Intelligence Laboratory, Taiyuan University of Science and Technology, Taiyuan, China 030024

  • Venue:
  • IEA/AIE '09 Proceedings of the 22nd International Conference on Industrial, Engineering and Other Applications of Applied Intelligent Systems: Next-Generation Applied Intelligence
  • Year:
  • 2009

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Abstract

Victim search with swarm robots on gas outburst spot in coal mines is investigated. Upon modeling swarm robotic system with extended particle swarm optimization, heterogeneous signals are fused by each robot independently as fitness evaluate. To fuse signals of intermittent sound of call for help, periodic radio frequency waves and continuous gas, concepts of detection-success binary logic and perceptual event are introduced into describing detection process. Based on statistical properties, detectable range, localization type and accuracy, priority is determined with information entropy-based criteria. Then the best-found position is decided in a distributed fashion through election operation. Simulation conducted in closed signal propagation environment indicates the approximate relation between fusion value and distance, i.e., the nearer the robot is far away from target, the higher the fusion of signals.