Efficient Formation of Pheromone Potential Field by Filtering Interaction

Piljae Kim; Daisuke Kurabayashi

doi:10.20965/jrm.2012.p0561

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JRM Vol.24 No.4 pp. 561-567

doi: 10.20965/jrm.2012.p0561

(2012)

Paper:

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Efficient Formation of Pheromone Potential Field by Filtering Interaction

Piljae Kim and Daisuke Kurabayashi

Department of Mechanical and Control Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan

Received:

October 18, 2011

Accepted:

May 2, 2012

Published:

August 20, 2012

Keywords:

pheromone potential field, mobile robot, RFID tags, pheromone filter

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.

Cite this article as:

P. Kim and D. Kurabayashi, “Efficient Formation of Pheromone Potential Field by Filtering Interaction,” J. Robot. Mechatron., Vol.24 No.4, pp. 561-567, 2012.

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References

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[3] S. Camazine, J.-L. Deneubourg, N. R. Franks, J. Sneyd, G. Theraulaz, and E. Bonabeau, “Self-organization in biological systems,” Princeton University Press, 2001.
[4] D. Payton, M. Daily, R. Estowski, M. Howard, and C. Lee, “Pheromone robotics,” Autonomous Robots, Vol.11, pp. 319-324, 2001.
[5] M. Mamei and F. Zambonelli, “Pervasive pheromone-based interaction with RFID tags,” ACM Trans. on Autonomous and Adaptive Systems, Vol.2, No.2, pp. 1-28, 2007.
[6] Herianto and D. Kurabayashi, “Realization of an artificial pheromone system in random data carriers using RFID tags for autonomous navigation,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 2288-2293, 2009.
[7] S. Park and S. Hashimoto, “Autonomous mobile robot navigation using passive RFID in indoor environment,” IEEE Trans. on Industrial Electronics, Vol.56, pp. 2366-2373, 2009.
[8] P. Vorst, S. Schneegans, B. Yang, and A. Zell, “Self-localization with RFID snapshots in densely tagged environments,” Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1353-1358, 2008.
[9] R. Johansson and A. Saffiotti, “Navigating by Stigmergy: A realization on an RFID floor for minimalistic robots,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 245-252, 2009.
[10] K. Kodaka, H. Niwa, and S. Sugano, “Active localization of a robot on a lattice of RFID tags by using an entropy map,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 1193-1199, 2009.
[11] M. Dorigo, M. Birattari, and T. Stützle, “Ant colony optimization,” IEEE Computational Intelligence Magazine, pp. 28-39, 2006.
[12] K. Sugawara, T. Kazama, and T. Watanabe, “Foraging behavior of interacting robots with virtual pheromone,” Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3074-3079, 2004.
[13] P. J. Roache, “Fundamentals of computational fluid dynamics,” Hermosa Publishers, 1998.
[14] G. H. Golub and C. F. Van Loan, “Matrix computation,” The Johns Hopkins University Press, 3rd edition, 1996.
[15] J. Crank and P. Nicolson, “A practical method for numerical evaluation of solutions of partial differential equations of the heat conduction type,” Advances in Computational Mathematics, Vol.6, pp. 207-226, 1996.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] E. Wilson and B. Holldobler, “The ants,” Springer-Verlag, 1990.

[2] [2] J. F. A. Traniello, “Foraging strategies of ants,” Annual Review of Entomology, Vol.34, pp. 191-210, 1989.

[3] [3] S. Camazine, J.-L. Deneubourg, N. R. Franks, J. Sneyd, G. Theraulaz, and E. Bonabeau, “Self-organization in biological systems,” Princeton University Press, 2001.

[4] [4] D. Payton, M. Daily, R. Estowski, M. Howard, and C. Lee, “Pheromone robotics,” Autonomous Robots, Vol.11, pp. 319-324, 2001.

[5] [5] M. Mamei and F. Zambonelli, “Pervasive pheromone-based interaction with RFID tags,” ACM Trans. on Autonomous and Adaptive Systems, Vol.2, No.2, pp. 1-28, 2007.

[6] [6] Herianto and D. Kurabayashi, “Realization of an artificial pheromone system in random data carriers using RFID tags for autonomous navigation,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 2288-2293, 2009.

[7] [7] S. Park and S. Hashimoto, “Autonomous mobile robot navigation using passive RFID in indoor environment,” IEEE Trans. on Industrial Electronics, Vol.56, pp. 2366-2373, 2009.

[8] [8] P. Vorst, S. Schneegans, B. Yang, and A. Zell, “Self-localization with RFID snapshots in densely tagged environments,” Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1353-1358, 2008.

[9] [9] R. Johansson and A. Saffiotti, “Navigating by Stigmergy: A realization on an RFID floor for minimalistic robots,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 245-252, 2009.

[10] [10] K. Kodaka, H. Niwa, and S. Sugano, “Active localization of a robot on a lattice of RFID tags by using an entropy map,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 1193-1199, 2009.

[11] [11] M. Dorigo, M. Birattari, and T. Stützle, “Ant colony optimization,” IEEE Computational Intelligence Magazine, pp. 28-39, 2006.

[12] [12] K. Sugawara, T. Kazama, and T. Watanabe, “Foraging behavior of interacting robots with virtual pheromone,” Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3074-3079, 2004.

[13] [13] P. J. Roache, “Fundamentals of computational fluid dynamics,” Hermosa Publishers, 1998.

[14] [14] G. H. Golub and C. F. Van Loan, “Matrix computation,” The Johns Hopkins University Press, 3rd edition, 1996.

[15] [15] J. Crank and P. Nicolson, “A practical method for numerical evaluation of solutions of partial differential equations of the heat conduction type,” Advances in Computational Mathematics, Vol.6, pp. 207-226, 1996.