张思齐, 崔荣鑫, 徐德民. 稀疏环境中信息趋向性搜索算法性能分析[J]. 机器人, 2013, 35(4): 432-438. DOI: 10.3724/SP.J.1218.2013.00432
引用本文: 张思齐, 崔荣鑫, 徐德民. 稀疏环境中信息趋向性搜索算法性能分析[J]. 机器人, 2013, 35(4): 432-438. DOI: 10.3724/SP.J.1218.2013.00432
ZHANG Siqi, CUI Rongxin, XU Demin. Performance Analysis on the Infotaxis Algorithm for Searching in Dilute Environments[J]. ROBOT, 2013, 35(4): 432-438. DOI: 10.3724/SP.J.1218.2013.00432
Citation: ZHANG Siqi, CUI Rongxin, XU Demin. Performance Analysis on the Infotaxis Algorithm for Searching in Dilute Environments[J]. ROBOT, 2013, 35(4): 432-438. DOI: 10.3724/SP.J.1218.2013.00432

稀疏环境中信息趋向性搜索算法性能分析

Performance Analysis on the Infotaxis Algorithm for Searching in Dilute Environments

  • 摘要: 综合评价了稀疏环境中机器人利用信息趋向性算法进行气味源搜索的性能. 首先介绍了信息趋向性算法,随后分情况对该算法进行了定量分析. 共进行了三方面的仿真分析与比较:① 比较了信息趋向性算法与传统气味源搜索算法中具有代表性的E.coli算法、 Dung Beetle算法和Spiral-Surge算法的搜索成功率和平均路径长度;② 比较了长距离和短距离情况下信息趋向性算法的运动风向性和平均搜索时间;③ 比较了四边形和六边形路径单元对信息趋向性算法性能的影响. 仿真结果表明,信息趋向性算法在稀疏环境中具有良好的搜索性能.

     

    Abstract: The performance of searching an odor source in dilute environments by employing the infotaxis algorithm is evaluated. The infotaxis algorithm is introduced, and a quantitative analysis is conducted from three aspects: (i) the success rate and average path length of the infotaxis algorithm and traditional algorithms (E.coli algorithm, Dung Beetle algorithm and Spiral-Surge algorithm); (ii) the wind-oriented movements and average searching time of the infotaxis algorithm in cases of long distance and short distance; (iii) the influence of quadrilateral and hexagonal path units. Simulation results are provided to show the effectiveness of the infotaxis algorithm in dilute environments.

     

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