Chemical concentration map building using whale optimization algorithm

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dc.contributor.authorMerzi, Alp
dc.contributor.authorGazi, Veysel
dc.date.accessioned2021-05-15T12:42:22Z
dc.date.available2021-05-15T12:42:22Z
dc.date.issued2017
dc.departmentMühendislik ve Doğa Bilimleri Fakültesi, Elektrik - Elektronik Mühendisliği Bölümüen_US
dc.descriptionIEEE Symposium Series on Computational Intelligence (IEEE SSCI) -- NOV 27-DEC 01, 2017 -- Honolulu, HI
dc.descriptionMerzi, Alp/0000-0003-4282-2486; Gazi, Veysel/0000-0002-4383-9215
dc.description.abstractIn this work, we adapted the Whale Optimization Algorithm (WOA) to a mobile robot system to map the chemical gas concentration in an unknown environment. It is assumed that robots do not know the environment beforehand but can measure it with the existing sensors on them. The chemical gas concentration in the environment is modeled by a multimodal Gaussian function (a function composed of a sum of multiple Gaussian functions). In addition, we assume that the sensor measurements of the robots are corrupted by a normally distributed random noise and investigate the effect of the noise on the performance of the algorithm. While WOA acts as a high-level path planning algorithm for the agents, low-level navigation and collision avoidance of the robots with unicycle dynamics is achived utilizing potential functions. The measurements of the robots are filtered and interpolated to obtain the chemical concentration map of the environment. Successful performance of the algorithm is verified through simulations performed in the MATLAB environment.en_US
dc.description.sponsorshipIEEE, IEEE Computat Intelligence Socen_US
dc.identifier.endpage1103en_US
dc.identifier.isbn978-1-5386-2726-6
dc.identifier.scopus2-s2.0-85046131054
dc.identifier.scopusqualityN/A
dc.identifier.startpage1096en_US
dc.identifier.urihttps://hdl.handle.net/20.500.12939/928
dc.identifier.wosWOS:000428251401025
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.institutionauthorMerzi, Alp
dc.language.isoen
dc.publisherIeeeen_US
dc.relation.ispartof2017 Ieee Symposium Series on Computational Intelligence (Ssci)
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectMap Buildingen_US
dc.subjectWOAen_US
dc.subjectWhale Optimization Algorithmen_US
dc.subjectMATLABen_US
dc.titleChemical concentration map building using whale optimization algorithm
dc.typeConference Object

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WoS İndeksli Yayınlar Koleksiyonu
Elektrik - Elektronik Mühendisliği Bölümü Koleksiyonu
Scopus İndeksli Yayınlar Koleksiyonu