对主动嗅觉（或称移动机器人气味/气体定位）问题的研究现状进行了较为详细的介绍。分析了当前此研究所使用的具有代表性的气味/气体和风向传感器原理。总结了主动嗅觉所包含的三个步骤，即气味/气体烟羽的发现、跟踪和气味/气体源确认，及每一步所采取的主要策略。最后，指出了当前主动嗅觉研究的主要难点。

Both the energy efficiency and correlation characteristics are important in airborne sonar systems to realize multichannel ultrasonic transducers working together. High energy efficiency can increase echo energy and measurement range, and sharp autocorrelation and flat cross correlation can help eliminate cross-talk among multichannel transducers. This paper addresses energy efficiency optimization under the premise that cross-talk between different sonar transducers can be avoided. The nondominated sorting genetic algorithm-II is applied to optimize both the spectrum and correlation characteristics of the excitation sequence. The central idea of the spectrum optimization is to distribute most of the energy of the excitation sequence within the frequency band of the sonar transducer; thus, less energy is filtered out by the transducers. Real experiments show that a sonar system consisting of eight-channel Polaroid 600 series electrostatic transducers excited with 2 ms optimized pulse-position-modulation sequences can work together without cross-talk and can measure distances up to 650 cm with maximal 1% relative error.

In this paper, the wall-following problem of an AGV is characterized by keeping a constant distance from a wall. Four Polaroid ultrasonic range sensors (sonar) are used to obtain information of the distance between the AGV and the wall. Four sonars are divided into two groups being placed at the front and back end on the right side of the AGV, respectively. A digital filter is used to get rid of disturbance and wrong readings. The former results mainly from the door and the latter from the specular reflection and accidental scattering. To obtain good dynamic and steady performances, a new compound fuzzy-I control algorithm is presented. Our methods have been verified by following a 15-meter-long wall with one door by using our TIT-1 AGV (TIT: Tianjin Institute of Technology). The results show a good performance with an error of ±2 cm from the desired distance to the wall.

Crosstalk is one main problem which leads to false distance measurement and reduces work efficiency of ultrasonic range sensor systems in mobile robots. The reason which results in ultrasonic crosstalk is briefly analyzed. To enhance the SNR (Signal Noise Ratio) and work efficiency, different methods used to avoid ultrasonic crosstalk have been put forward in the past decade. Such representative methods are classifled into two categories, which are called heuristic soft-rocessing strategy and hardware based coding strategy in this paper. The advantage and disadvantage of each method are analyzed. Suggestions and comments on designing non-crosstalk ultrasonic range system are proposed at the end.

给出了一种用于实现主动嗅觉（也称气味/气体源定位或化学烟剁跟踪）的多机器人协同搜索策略。将蚁群算法与逆风搜索相结合用于协调多机器人的运动方向。蚁群算法可有效调动机器人朝信息素高的区域运动且保证机器人之间的距离不会过大；逆风搜索可降低算法过早地陷入局部最优的概率。为正确判断转移方向，蚁群算法中还增加了对历史信息的考虑。在源头确认方面，本文提出了气味/气体浓度持久性判断结合机器人旋转计算流体质量通量散度的方法。仿真表明，本文的主动嗅觉搜索策略可适用于湍流烟剁环境，且可有效地逃脱浓度局部最优和风场的漩涡，另外可最终确认源头位置。