Information-fusion-mechanism-based multi-robot dangerous odor source positioning method

Abstract

The invention relates to an information-fusion-mechanism-based multi-robot dangerous odor source positioning method. In the conventional methods, information is incompletely utilized, and communication constraints are not taken into account, so a multi-robot system may be locally convergent. The method provided by the invention comprises the following steps of: first establishing an information fusion matrix and an odor source position mean value distribution probability model, extracting mean value information, and storing the extracted mean value information into the information fusion matrix; then establishing odor source position probability distribution according to the mean value information, and extracting position information; and finally controlling robots to move to a target position by adopting spiral paths as motion trails of the robots based on probable positions and current position of an odor source, and continuously updating position information, corresponding to maximum concentration, obtained by the robot group and the position information, corresponding to the maximum concentration, obtained by individual robots until a given position is obtained. By the method,the multi-robot system can rapidly position the dangerous odor source, and effectively provide the probable positions of the dangerous odor source under the conditions of communication constraints.

Description

technical field [0001] The invention belongs to the technical field of automation, and relates to a multi-robot dangerous odor source location method based on an information fusion mechanism. Background technique [0002] The location of dangerous odor sources is of great significance to human safety, such as ocean and river environmental monitoring, source tracking and location of pollutants, and sources 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 wor...

AI Technical Summary

Problems solved by technology

At present, the main control method for multi-robot systems to cooperatively locate dangerous odor sources is swarm intelligence technology. However, under the condition of communication constraints, the positioning success rate of this technology is low, and the multi-robot system will consume too much energy.

A major reason is that the method does not fully utilize information and tends to cause local convergence of multi-robot systems

In addition, the research on cooperative control methods for multi-robot systems has just started in our country, and no effective method has been proposed yet.

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