Multivariable Fuzzy Control Based Mobile Robot Odor Source Localization via Semitensor Product

Abstract

In order to take full advantage of the multisensor information, a MIMO fuzzy control system based on semitensor product (STP) is set up for mobile robot odor source localization (OSL). Multisensor information, such as vision, olfaction, laser, wind speed, and direction, is the input of the fuzzy control system and the relative searching strategies, such as random searching (RS), nearest distance-based vision searching (NDVS), and odor source declaration (OSD), are the outputs. Fuzzy control rules with algebraic equations are given according to the multisensor information via STP. Any output can be updated in the proposed fuzzy control system and has no influence on the other searching strategies. The proposed MIMO fuzzy control scheme based on STP can reach the theoretical system of the mobile robot OSL. Experimental results show the efficiency of the proposed method.

Recent Progress and Trend of Robot Odor Source Localization

“…A few researches have already resorted to these DL‐based vision tools [108], which may set off a new wave of vision‐based OSL research. In odor to integrate the disparate sensing modalities of vision and olfaction, different fusion methods are introduced, such as the multi‐variable fuzzy control system [109] and the probabilistic Bayesian framework [108].…”

A survey on applications of semi-tensor product method in engineering

“…Researchers have paid great attention to building mobile robots with onboard odor sensor or/and winds sensor to realize the odor source localization task. Jiang et al [159] used a multi-input multi-output fuzzy control system based on STP method to model robot odor source localization in order to fully apply the multisensor information. With the proposed fuzzy control system, relative searching strategies can be activated dependent on the timely multisensor information got from mobile robot.…”

“…This method, compared to the classical approaches, can avoid some random searching without odor information. In [159], an in-depth study was given from the perspective of mathematics, which enriches the theory of the mobile robot odor source localization.…”

“…On the other hand, STP method has wide applications in the engineering related field. These applications include gene regulation [124,125], power system [126][127][128][129], wireless communication [130][131][132], smart grid [133][134][135][136][137][138][139], finite automata [140][141][142][143][144], information security [145][146][147], vehicle control [148][149][150], indoor thermal comfort [151][152][153][154], fault detection of circuits [155,156], spacecraft [157], epidemic vaccination [158], mobile robot [159]. The aim of this paper is to present a comprehensive survey on these applications.…”

Exponentiation Representation of Boolean Matrices in the Framework of Semi-Tensor Product of Matrices

“…The STP of matrices has been successfully applied to many fields, such as gene regulation [20]- [23], power system [24]- [26], vehicle control [11], [13], [27], [28], smart grid [29]- [32], finite state machine [33]- [36], information security [37], [38], mobile robot [39] and graph theory [40]- [42]. These achievements show that the STP of matrices excels in the analysis and synthesis of discrete state systems, especially of finite valued systems, logical networks and logical systems.…”