Multivariable Fuzzy Control Based Mobile Robot Odor Source Localization via Semitensor Product

Ping Jiang, Yuzhen Wang and Aidong Ge

Mathematical Problems in Engineering, 2015, vol. 2015, 1-10

Abstract:

In order to take full advantage of the multisensor information, a MIMO fuzzy control system based on semitensor product (STP) is set up for mobile robot odor source localization (OSL). Multisensor information, such as vision, olfaction, laser, wind speed, and direction, is the input of the fuzzy control system and the relative searching strategies, such as random searching (RS), nearest distance-based vision searching (NDVS), and odor source declaration (OSD), are the outputs. Fuzzy control rules with algebraic equations are given according to the multisensor information via STP. Any output can be updated in the proposed fuzzy control system and has no influence on the other searching strategies. The proposed MIMO fuzzy control scheme based on STP can reach the theoretical system of the mobile robot OSL. Experimental results show the efficiency of the proposed method.

Date: 2015
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:736720

DOI: 10.1155/2015/736720

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