Behavior-feature-based Dynamic Variant Step-size Odor Search Algorithm for Mobile Robot

Abstract

To perform the task of searching underground odor source, on the basis of traditional hex-path algorithm, the behavior-feature-based variant step-size algorithm for mobile robot was provided. According to its behavior feature in search process, a robot used behavior control model to determine what step size strategy should be selected. The step size strategies include three kinds: dynamic-varying based on instant odor density, dynamic-decreasing based on wandering extent, and invariant. Computer simulation work proves the new algorithm has all three functionalities of complete odor source search work: odor finding, odor tracing and odor source localizing.