机械与电子Issue(9)：67-71,5.
面向室外环境的单机器人辐射场寻源算法
A Radiation Source Searching Algorithm Used for a Single Robot in Outdoor Environment
倪诗翔 1王伟强 2苏衍宇 1吴冬梅1
作者信息
- 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
- 折叠
摘要
Abstract
Aiming at searching the source of ther-mal radiation fields,nuclear radiation fields,strong e-lectromagnetic radiation fields and sound fields in out-door 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 intensi-ty 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 lo-cal path planning.To verify the proposed algorithm, an experiment in an environment of 300 m×200 m has been conducted.关键词
室外环境/单机器人/寻源算法/辐射场Key words
outdoor environments/single ro-bot/source searching algorithm/radiation field分类
信息技术与安全科学引用本文复制引用
倪诗翔,王伟强,苏衍宇,吴冬梅..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,(9):67-71,5.
