TY - GEN
T1 - Localizing multiple odor sources in dynamic environment using ranged subgroup PSO with flow of wind based on open dynamic engine library
AU - Jatmiko, Wisnu
AU - Pambuko, W.
AU - Mursanto, Petrus
AU - Muis, Abdul
AU - Putro, Benyamin Kusumo
AU - Sekiyama, K.
AU - Fukuda, T.
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=77950921386&partnerID=8YFLogxK
U2 - 10.1109/MHS.2009.5351761
DO - 10.1109/MHS.2009.5351761
M3 - Conference contribution
AN - SCOPUS:77950921386
SN - 9781424450954
T3 - 20th Anniversary MHS 2009 and Micro-Nano Global COE - 2009 International Symposium on Micro-NanoMechatronics and Human Science
SP - 602
EP - 607
BT - 20th Anniversary MHS 2009 and Micro-Nano Global COE - 2009 International Symposium on Micro-NanoMechatronics and Human Science
T2 - 20th Anniversary MHS 2009 and Micro-Nano Global COE - 2009 International Symposium on Micro-NanoMechatronics and Human Science
Y2 - 8 November 2009 through 11 November 2009
ER -