[1]倪诗翔,王伟强,苏衍宇,等.面向室外环境的单机器人辐射场寻源算法[J].机械与电子,2015,(09):67-71.
　NI Shixiang,WANG Weiqiang,SU Yanyu,et al.A Radiation Source Searching Algorithm Used for a Single Robot in Outdoor Environment[J].Machinery & Electronics,2015,(09):67-71.
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面向室外环境的单机器人辐射场寻源算法
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2015年09期
页码:
67-71
栏目:
智能工程
出版日期:
2015-09-25

文章信息/Info

Title:
A Radiation Source Searching Algorithm Used for a Single Robot in Outdoor Environment
文章编号:
1001-2257(2015)09-0067-05
作者:
倪诗翔1; 王伟强2; 苏衍宇1; 吴冬梅1
(1.哈尔滨工业大学机器人技术及系统国家重点实验室,黑龙江 哈尔滨 150001; 2.解放军电子工程学院,安徽 合肥 230031)
Author(s):
NI Shixiang1; WANG Weiqiang2; SU Yanyu1; WU Dongmei1
(1.State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001,China; 2.Electronic Engineering Institute of PLA, Hefei 230031,China)
关键词:
室外环境;  单机器人;  寻源算法;  辐射场
Keywords:
outdoor environments;  single robot;  source searching algorithm;  radiation field
分类号:
TP241
文献标志码:
A
摘要:
针对室外热辐射场、核辐射场、强电磁辐射场和声场的辐射源搜寻,提出了一种基于高斯过程回归的单机器人辐射源搜寻算法。首先将连续的搜寻环境离散化,采用高斯过程回归预测机器人邻域中的辐射强度,然后将局部路径规划考虑为一个优化问题,求取优化目标函数的最大值获得机器人的下一步路径点,最后通过多次局部路径规划引导机器人到达全局最优点。为验证所提算法的有效性,在300 m×200 m的室外环境中进行了实验。
Abstract:
Aiming at searching the source of thermal radiation fields, nuclear radiation fields, strong electromagnetic radiation fields and sound fields in outdoor environment, a source searching algorithm based on Gaussian Process Regression using a single robot is proposed. First of all, the continuous searching area is discretized with square grids, and the radiation intensity of adjacent grids is predicted by Gaussian Process Regression. Then a local path planning is considered to be an optimization problem and the next path point is obtained by solving the problem. Finally, the robot is guided to the global optimal point through repeated local path planning. To verify the proposed algorithm, an experiment in an environment of 300 m×200 m has been conducted.

参考文献/References:

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[8] 王阳, 孟庆浩, 李腾, 等. 室内通风环境下基于模拟退火算法的单机器人气味源定位[J].机器人,2013, 35(3): 283-291.
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备注/Memo

备注/Memo:
收稿日期:2015-04-27
作者简介:倪诗翔(1990-),男,四川西昌人,硕士研究生,研究方向为特种环境移动机器人; 王伟强(1976-),男,安徽合肥人,工程师,研究方向为建筑与环境建模技术; 苏衍宇(1986-),男,湖南株洲人,博士研究生,研究方向为智能机器人控制及工业自动化; 吴冬梅(1968-),女,黑龙江哈尔滨人,博士研究生导师,教授,研究方向为医疗机器人技术。
更新日期/Last Update: 2015-09-25