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Mathematical Problems in Engineering
Volume 2015 (2015), Article ID 736720, 10 pages
Research Article

Multivariable Fuzzy Control Based Mobile Robot Odor Source Localization via Semitensor Product

1School of Electronic and Engineering, University of Jinan, Jinan, Shandong 250022, China
2School of Control Science and Engineering, Shandong University, Jinan, Shandong 250061, China

Received 8 April 2015; Accepted 18 June 2015

Academic Editor: Xinguang Zhang

Copyright © 2015 Ping Jiang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In order to take full advantage of the multisensor information, a MIMO fuzzy control system based on semitensor product (STP) is set up for mobile robot odor source localization (OSL). Multisensor information, such as vision, olfaction, laser, wind speed, and direction, is the input of the fuzzy control system and the relative searching strategies, such as random searching (RS), nearest distance-based vision searching (NDVS), and odor source declaration (OSD), are the outputs. Fuzzy control rules with algebraic equations are given according to the multisensor information via STP. Any output can be updated in the proposed fuzzy control system and has no influence on the other searching strategies. The proposed MIMO fuzzy control scheme based on STP can reach the theoretical system of the mobile robot OSL. Experimental results show the efficiency of the proposed method.