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Title: Chemical Concentration Map Building Through Bacterial Foraging Optimization Based Search Algorithm by Mobile Robots
Authors: Turduev, Mirbek
Kirtay, Murat
Sousa, Pedro
Gazi, Veysel
Marques, Lino
Keywords: [No Keywords]
Issue Date: 2010
Publisher: IEEE
Source: IEEE International Conference on Systems, Man and Cybernetics -- OCT 10-13, 2010 -- Istanbul, TURKEY
Series/Report no.: IEEE International Conference on Systems Man and Cybernetics Conference Proceedings
Abstract: In this article we present implementation of Bacterial Foraging Optimization algorithm inspired search by multiple robots in an unknown area in order to find the region with highest chemical gas concentration as well as to build the chemical gas concentration map. The searching and map building tasks are accomplished by using mobile robots equipped with smart transducers for gas sensing called "KheNose". Robots perform the search autonomously via bacterial chemotactic behavior. Moreover, simultaneously the robots send their sensor readings of the chemical concentration and their position data to a remote computer (a base station), where the data is combined, interpolated, and filtered to form an real-time map of the chemical gas concentration in the environment.
ISBN: 978-1-4244-6588-0
ISSN: 1062-922X
Appears in Collections:Elektrik ve Elektronik Mühendisliği Bölümü / Department of Electrical & Electronics Engineering
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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