基于蟻群算法的機(jī)器人主動(dòng)嗅覺研究.pdf

1、天津大學(xué)碩士學(xué)位論文基于蟻群算法的機(jī)器人主動(dòng)嗅覺研究姓名：魏小博申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：檢測(cè)技術(shù)與自動(dòng)化裝置指導(dǎo)教師：孟慶浩20070601英文摘要ABSTRACT’I。heobjeetiveoftheactiveolfactionresearchistomakeuseofthemobilerobotsandtheirsensorstotracetheplumeanddeclaretheodor／gassourceactivelyThe

2、currentresearchachievementindicatesthatthesearchstrategiesusedaremainlybasedonchemicalgradientwhichiscalled‘‘chemotaxis’orup—steamwhichiscalled‘‘a(chǎn)nemotaxis”，andthesearchtaskismainlyrealizedbysinglerobotormultiplerobotsOn

3、thebasisofthesummaryofthecurrentresearchachievement，thefollowingresearchworkhasbeendone：1)ThesateoftheartofactiveolfactionisreviewedindetailThethreemainstepsincludedintheactiveo；ffaction，ie，plumefinding，plumetrackingando

4、dor／gassourcedeclaration，andassociatedstrategiesappliedineachsteparesummarizedSwarmbasedactiveolfactionisalsosummarizedTwodi伍curiesincludedintheswarmbasedactiveolfaction，ie，thesearchstrategyandthecollaborationofthemulti—

5、agentarealsopointed2)Asoftware&hardwareplatformofasmallmobilerobothasbeendesignedandaccomplishedTheconcretemodulesofthemobilerobotarepresentedindetail，togetherwithlotsofschematicdiagramsTheembeddedoperatingsystemuc／OS2em

6、beddedsystemisusedtoimprovethereal—timeperformanceofthemobilerobotTheexistingproblemsareexplained，andsomepotentialimprovementsaresuggested3)TheantcolonyalgorithmsareintroducedtosolvetheswarmbasedactiveolfactionproblemSim

7、ulationresultshavebeenachievedbyFLUENTsoRwareThebasictheoryoftheantcolonyalgorithmsisintroduced，basedonwhichseveralimprovementshavebeenmadeSimulationresultsvalidateitsfeasibilityTheinfluenceoftheseveralconcreteparameters

8、tosimulationresultsisanalyzedandtheproblemsincludedarealsopointed4)Swarmbasedactiveolfactionissummarizedandthefutureresearchperspectiveisanalyzedattheend。KEYWORDS：Mobilerobot，activeelfaction，antcolonyalgorithms，plumefind