非線形要素を用いたブライテンベルグビークル型ガス源探索ロボットの探索領域の制御

抄録

This paper shows that an experimental study of the Braitenberg's vehicle-like gas tracking robot with nonlinear sensor-actuator connection. The sensor-actuator connections which drive the robot in a gas tracking operation can extend by using a nonlinear elements for limiting the search area to avoid sensor saturation. The results show that the developed odor tracking robot which has nonlinear connection weights based on the sigmoid function can move to track the limited plume for sensor saturation.