Abstract
In the biological world, social insects, such as ants and bees, use a volatile substance called pheromone for their foraging or homing tasks. This study deals with the utilization of the concept of chemical pheromone as an artificial potential field for robotic purposes. This paper first models a pheromone-based potential field, which is constructed through the interaction between amobile robot and radio-frequency identification tags. The emphasis in the modeling of the system is on the possibility of practically implementable ideas. Stability analysis of the pheromone potential field is carried out with the aim of implementing the model on a real robotic system. The comprehensive analysis of the stability provides the criteria for setting the parameters for obtaining the appropriate potential field, leading to a new filter design scheme called a pheromone filter. The designed filter satisfies both the stability and accuracy requirements of the field and facilitates a relatively straightforward and practical implementation for building and shaping the potential field. The effectiveness of the proposed algorithm is validated through both a computer simulation and a real experiment.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.