The invention creatively combines an improved seagull
algorithm with an unmanned aerial vehicle group, and discloses a multi-unmanned aerial vehicle gas leakage source positioning method based on the improved seagull
algorithm. Compared with a traditional
traceability method depending on a fixed monitoring
station or a ground
mobile robot, the method takes the unmanned aerial vehicle cluster as a
traceability platform of gas leakage, and has the advantages of low cost, wide search range, high flexibility, high
traceability efficiency and the like. Compared with a standard seagull
algorithm, the gas leakage source positioning method based on the improved seagull algorithm has the following innovativeness: the value range of a balance operator B is reduced, the step length is greatly reduced, and the global search capability is greatly improved; the spiral
radius r is set to be a fixed value, it is guaranteed that no disordered moving direction occurs in the
iteration process of an individual, and the stability of the algorithm is improved; the foraging behavior is introduced, so that other individuals can explore themselves while following the optimal individual, and
local optimum is avoided.