Realization of a Pheromone Potential Field for Autonomous Navigation by Radio Frequency Identification

Authors: Herianto¹; Sakakibara, Toshiki²; Koiwa, Tomoaki²; Kurabayashi, Daisuke²

Source: Advanced Robotics, Volume 22, Numbers 13-14, 2008 , pp. 1461-1478(18)

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Abstract:

This paper presents the results of our research that aims to implement autonomous navigation with an artificial pheromone system. As social insects, a group of ants show advanced performance in their activity by using a chemical substance called a pheromone. By introducing an artificial pheromone system composed of data carriers and autonomous robots, the robotic system creates a potential field to navigate their group. Using this approach we have developed a pheromone density model to realize the function of pheromones with the help of data carriers. We intend to show the effectiveness of the proposed system by performing computer simulations and real experiments for one and two dimensions. The proposed system can be used for an autonomous navigation system. Results are discussed and future works are proposed.

Keywords: AUTONOMOUS; PHEROMONE; POTENTIAL FIELD; DATA CARRIER; NAVIGATION

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156855308X360569

Affiliations: 1: Tokyo Institute of Technology, Ookayama 2-12-1, Meguro-ku, Tokyo 152-8552, Japan;, Email: herianto@irs.ctrl.titech.ac.jp 2: Tokyo Institute of Technology, Ookayama 2-12-1, Meguro-ku, Tokyo 152-8552, Japan

Publication date: 2008-09-01