论文:2016,Vol:34,Issue(5):843-850
引用本文:
宋程, 贺昱曜, 杨盼盼, 雷小康. 基于局部概率可靠度的信息趋向源搜索方法[J]. 西北工业大学学报
Song Cheng, He Yuyao, Yang Panpan, Lei Xiaokang. An Infotaxis Strategy for Seeking a Dispersion Source Using Local Probabilistic Reliability[J]. Northwestern polytechnical university

基于局部概率可靠度的信息趋向源搜索方法
宋程1, 贺昱曜1, 杨盼盼2, 雷小康3
1. 西北工业大学 航海学院, 陕西 西安 710072;
2. 长安大学 电子与控制工程学院, 陕西 西安 710064;
3. 西安建筑科技大学 信息与控制工程学院, 陕西 西安 710055
摘要:
信息趋向搜索方法能够实现对稀疏线索源的有效搜索,但在局部线索稠密或近源区域存在趋近效率降低及局部自陷问题。为有效引导机器人向高信息区域运动以趋近源,提出了一种基于局部概率可靠度的信息趋向搜索方法。该方法引入一个与线索捕获与否相关的局部概率可靠度,通过调节局部概率扰动对信息熵下降方向的影响,实现在线索稠密和近源区域的高效趋近。仿真结果表明,提出的基于局部概率可靠度的信息趋向方法能明显提升搜索性能,且可有效逃脱局部自陷。
关键词:    信息熵    稀疏线索    源搜索    局部自陷    信息趋向   
An Infotaxis Strategy for Seeking a Dispersion Source Using Local Probabilistic Reliability
Song Cheng1, He Yuyao1, Yang Panpan2, Lei Xiaokang3
1. School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, China;
2. School of Electronic and Control Engineering, Chang'an University, Xi'an 710064, China;
3. School of Information and Control Engineering, Xi'an University of Architecture and Technology, Xi'an 710055, China
Abstract:
Infotaxis search can effectively navigate the robot to a dispersion source using sporadic cues. But low efficiency and local self-trapping problems come out in the dense cues or near-source area for this method. After analyzing the causes of these problems, a novel infotaxis method based on a local probability reliability is proposed. In this method, a reliability factor related to cues capturing is introduced. It is used to adjust the influence of the local probability disturbance on the drop trend of information entropy. Through guiding the robot to high information zone, the dispersion source can be approached. The simulation results demonstrate that the proposed infotaxis method presents a good search performance in sparse and dense cues environment, which can also effectively escape from local self-trapping.
Key words:    entropy    sporadic cues    source seeking    local self-trapping    infotaxis   
收稿日期: 2016-03-17     修回日期:
DOI:
基金项目: 国家自然科学基金(61271143)资助
通讯作者:     Email:
作者简介: 宋程(1987-),西北工业大学博士研究生,主要从事智能导航和控制研究。
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