Method for multirobot to search smell sources with cooperation under the dynamic smoke plumage environment

Abstract

The invention relates to a method for multirobot to search smell sources with cooperation under the dynamic smoke plumage environment, and the geometric centre of the working space is the common vertex, and divides the whole working space into several subareas, and each subarea is distributed with a robot randomly, and each robot among all the robots executes a smoke plumage discovery strategy in the working space of the corresponding subarea; when a robot in the working space detects the smoke plumage smell, the robot which detects the smoke plumage at first is immediately considered as an environment monitoring particle for monitoring the change of the smoke plumage in the environment and determining whether the particle swarm detects the smell source; other robots are considered as searching particles and employ multirobot cooperation searching method optimized from asynchronous parallel particle swarm for determining the scope of the smell source; according to the determined smell source scope, the robot which is considered as the environment monitoring particle employs a gradually forward method for gradually approaching the smell source, and when the concentration value of the gas detected by the robot as environment monitoring particle is higher than the preset value and the detected smell is sprayed in a form of directional airflow, the smell source is locked.

Description

technical field [0001] The invention relates to the field of robot swarm intelligence, in particular to a multi-robot collaborative search method for odor sources in a dynamic smoke plume environment. Background technique [0002] The problem of robotic odor sourcing, also known as robotic active olfaction, refers to the process of using mobile robots to autonomously discover, track smoke plumes, and finally determine the location of odor sources. It widely exists in all aspects of production and life, such as fire alarm, inspection of prohibited items, detection of harmful gas leaks and anti-terrorist explosives, etc. [0003] Inspired by the use of odor information in nature to complete activities such as foraging and courtship, scholars have tried to use mobile robots combined with odor sensors to find odor sources since the 1990s. At present, for a single robot, many odor source search strategies or methods have been given, representative methods such as the headwind se...

AI Technical Summary

Problems solved by technology

This type of technical achievement provides a new solution for multi-robot odor source search. However, it should be pointed out that the existing methods still have the following problems: (1) Most methods consider the situation that the plume distribution is static

For this situation, the existing methods are difficult to obtain ideal results; (2) The existing methods all update the position of the robot in a synchronous and parallel manner, that is, all the robots can generate a new target position at the same time after reaching the target position

In fact, affected by factors such as moving distance, speed, obstacles, and terrain, the time it takes for the robot to reach the target position varies greatly. Therefore, the use of synchronous update methods will inevitably result in waste of robot resources.

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