Study On The Active Olfaction Of Robot Based On Particle Swarm Optimization

The goal of the research work about active olfaction is to detect and finally declare the source of relevant odor/gas in the circumstance based on robot and its sensor systems. There are lots of potential applications for the active olfaction, for example, anti-terrorism, dangerous environment exploration, disaster rescue as well as looking for the leakage sources of toxic and harmful gases. Distributed search by using multiple robots will improve the efficiency and the successful rate.This thesis focuses on the realization method of active olfaction in dynamic continuous plume environment by using particle swarm optimization (PSO) method. The relatively detailed work can be concluded as follows.1. The state-of-the-art of active olfaction is summarized, including single robot and multiple robots based search. The difficulties and emphases are analyzed and the paths to improve the search methods are found.2. The hardware and software of the ultrasonic and infrared sensors based obstacle avoidance system for the odor robot are designed.3. The theory of PSO (particle swarm optimization) and the method of active olfaction based on PSO are introduced. The improved search methods are brought out, and the simulation results are given and analyzed.4. The realization of active olfaction is summarized and the foreground is analyzed.