基于昆虫行为的小型气源定位移动机器人

摘要

具有气味追踪与气源定位能力的机器人有广泛的应用前景，如用于有毒气体、火灾征兆或者爆炸物的探测等．设计了一基于昆虫气味追踪行为的小型气源定位移动机器人．该小型机器人硬件系统简洁、紧凑。采用基于昆虫行为的anemotaxis气味追踪策略与沿墙避障策略相结合的方法，控制机器人定位室内可疑气源．实验结果表明，运用简洁的硬、软件系统设计的小型气源定位移动机器人具备在室内自主定位气源的能力．%A robot which is capable of odor plume tracing can be employed in many applications, such as the detection of toxic gas, fire at its early stage and explosives. A small plume-tracing mobile robot was aimed to be developed to demonstrate how simple and basic insect-like robotic system can localize an odor source. The robot adopted the anemotaxis plume-tracing and the wall-following collision avoidance algorithms to locate an odor source. Experimental results demonstrated the capability of this simple and compact small size plume-tracing mobile robot.