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Method for cooperatively positioning dangerous odor source by multi-robot system

A multi-robot, odor source technology, applied in the field of automation, can solve the problems of low positioning success rate, no proposed method, unstable concentration amplitude information, etc., to achieve the effect of small consumption and improved accuracy

Inactive Publication Date: 2013-08-07
YUNFENG PIPE IND
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the main method for coordinating multi-robot systems to locate dangerous odor sources is swarm intelligence technology. However, the positioning success rate of this technology is low, and it will also consume too much energy for multi-robot systems. One of the main reasons is that this method It mainly uses the concentration amplitude information, and the instability of the concentration amplitude information often makes the multi-robot system converge locally.
In addition, in our country, the research on the cooperative positioning method of multi-robot system has just started, and there is still no effective method

Method used

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  • Method for cooperatively positioning dangerous odor source by multi-robot system
  • Method for cooperatively positioning dangerous odor source by multi-robot system
  • Method for cooperatively positioning dangerous odor source by multi-robot system

Examples

Experimental program
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Effect test

Embodiment Construction

[0069] Take the leakage of industrial gas pipeline as an example:

[0070] Here we take the leakage of industrial gas pipeline as an example to describe. Establish a 2-dimensional local coordinate system at possible gas leakage points, and install an anemometer for the robot to measure the local wind speed (every 1 second, record the wind speed once, a total of 100 records. Once the number of wind speed information exceeds 100, use the new wind speed information instead of the old wind speed information), and the position of the robot in the local coordinate system measured by the odometer, and an industrial toxic gas detection device is installed for the robot. And set the maximum linear velocity and angular velocity of the robot and specify the background distribution of the smell source position. for the first robot, start the following steps:

[0071] 1. Search for scent cues.

[0072] The multi-robot system first advances in the direction that crosses with the cur...

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Abstract

The invention relates to a method for cooperatively positioning a dangerous odor source by a multi-robot system. The traditional method has the defects of lower success ratio and too much energy consumption of systems. The method comprises the steps of: firstly, establishing an observation model of the odor source, then obtaining an estimated value of the position of the odor source and prior probability distribution of the position of the odor source; secondly, if detecting the odor, correcting the prior probability distribution to obtain posterior probability distribution, and sampling the posterior probability distribution to obtain an estimated value of the position of the odor source, generating a new position of a robot; if no odor is detected, directly sampling the prior probability distribution of the position of the odor source to obtain an estimated value of the position of the odor source, generating a new position of the robot; and finally, controlling the robot to move towards the new position by using a consistency algorithm. The method makes up the defects of the traditional method, effectively improves the accuracy of positioning the odor source, ensures small consumption of the energy of the multi-robot system, and meets the requirement for rapid positioning in practice.

Description

technical field [0001] The invention belongs to the technical field of automation and relates to a method for multi-robot systems to cooperate in locating dangerous odor sources. Background technique [0002] The location of dangerous odor sources is of great significance to human safety, such as locating the source of pollutants and the source of toxic gas leakage in chemical factories, etc. Therefore, how to quickly and effectively locate the source of dangerous odors is an extremely important issue. However, the problem of localization of hazardous odor sources presents different characteristics in different environments. Normally, in the absence of airflow, the diffusion of odor molecules is the main force that drives them away from the source of the odor. The greatest concentrations will occur near the source of the odor. Therefore, we can use the gradient method to locate the odor source. In the real world, however, air currents are a major force affecting the diff...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F19/00
Inventor 吕强谢小高罗平
Owner YUNFENG PIPE IND
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