Localizing multiple odor sources in dynamic environment using ranged subgroup PSO with flow of wind based on open dynamic engine library

Wisnu Jatmiko, W. Pambuko, Petrus Mursanto, Abdul Muis, Benyamin Kusumo Putro, K. Sekiyama, T. Fukuda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

A new algorithm based on Modified Particle Swarm Optimization (MPSO) which follows a local gradient of the chemical concentration within a plume and follow direction of the wind velocity is investigated. Moreover, the niche or parallel search characteristic is adopted on MPSO to solve the multi-peak and multi-source problem. When using parallel MPSO, subgroup of robot is introduced then each subgroup can locate the odor source. Unfortunately, there is a possibility that more that one subgroup locates one odor sources. This is inefficient because other subgroups locate other source, then we proposed a ranged subgroup method for coping for that problem, then the searching performance will increase. Then ODE (Open Dynamics Engine) library is used for physical modeling of the robot like friction, balancing moment and others. Finally the statistical analysis shows that the new approach is technically sounds.

Original languageEnglish
Title of host publication20th Anniversary MHS 2009 and Micro-Nano Global COE - 2009 International Symposium on Micro-NanoMechatronics and Human Science
Pages602-607
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2009
Event20th Anniversary MHS 2009 and Micro-Nano Global COE - 2009 International Symposium on Micro-NanoMechatronics and Human Science - Nagoya, Japan
Duration: 8 Nov 200911 Nov 2009

Publication series

Name20th Anniversary MHS 2009 and Micro-Nano Global COE - 2009 International Symposium on Micro-NanoMechatronics and Human Science

Conference

Conference20th Anniversary MHS 2009 and Micro-Nano Global COE - 2009 International Symposium on Micro-NanoMechatronics and Human Science
CountryJapan
CityNagoya
Period8/11/0911/11/09

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    Jatmiko, W., Pambuko, W., Mursanto, P., Muis, A., Putro, B. K., Sekiyama, K., & Fukuda, T. (2009). Localizing multiple odor sources in dynamic environment using ranged subgroup PSO with flow of wind based on open dynamic engine library. In 20th Anniversary MHS 2009 and Micro-Nano Global COE - 2009 International Symposium on Micro-NanoMechatronics and Human Science (pp. 602-607). [5351761] (20th Anniversary MHS 2009 and Micro-Nano Global COE - 2009 International Symposium on Micro-NanoMechatronics and Human Science). https://doi.org/10.1109/MHS.2009.5351761