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A collaborative odor source localization method for multi-olfactory robots

A positioning method and robot technology, applied in two-dimensional position/channel control, instruments, motor vehicles, etc., can solve problems such as the inability to achieve iterative training results and motion path planning linkage perception, lack of multi-robot information sharing, etc. , to achieve the effect of improving flexibility and efficiency, and reducing consumption

Active Publication Date: 2022-04-29
HANGZHOU DIANZI UNIV
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AI Technical Summary

Problems solved by technology

Although the above methods have improved the global fast search ability to a certain extent, they lack the information sharing of multi-robots, and cannot better realize the linkage perception of iterative training results and motion path planning.

Method used

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  • A collaborative odor source localization method for multi-olfactory robots
  • A collaborative odor source localization method for multi-olfactory robots
  • A collaborative odor source localization method for multi-olfactory robots

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Embodiment Construction

[0053] Such as figure 1 As shown, the present invention proposes a method for locating odor sources coordinated by multiple olfactory robots. Firstly, in the phase of odor source discovery, multiple olfactory robots are randomly distributed in different positions of the two-dimensional search plane, and then all the olfactory robots perform a spiral motion that expands outward; once the gas concentrations measured by any three olfactory robots are greater than the low threshold , at this moment, the above-mentioned three olfactory robots enter the phase of tracking the odor source, and start to make s-shaped segmental sinusoidal motion towards the odor source. Based on the BP neural network and RFID positioning system, the BP neural network dynamically adjusts the weights by using the periodic gradient information to control the movement slope of each cycle of the olfactory robot; the RFID positioning system transmits the gas concentration measured by multiple olfactory robots...

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Abstract

The invention discloses a method for locating odor sources coordinated by multiple olfactory robots. The olfactory robot of the invention quickly finds the odor source through spiral motion, optimizes the weight adjustment of the BP neural network to improve the accuracy of tracking the slope of the movement, and uses the s-type Segmented sinusoidal motion quickly tracks the odor source, and at the same time uses the characteristics of the RFID positioning system to strengthen the information coupling between multiple robots, which improves the scalability and robustness of the system to a certain extent. At the same time, the generalization ability of the model is strengthened.

Description

technical field [0001] The invention belongs to the field of location and detection of dangerous gas sources, and in particular relates to a method for locating odor sources coordinated by multiple olfactory robots. Background technique [0002] The rapid location of hazardous odor sources is of great significance to human health and environmental safety. Traditional odor source localization methods track odor sources based on local concentration gradients, such as zigzag search and trilateral positioning search. Because such algorithms lack prior knowledge, they usually have to traverse the entire search area, resulting in low search efficiency. And the degree of intelligence is weak. [0003] In recent years, odor source localization methods based on artificial neural networks have been widely used. For example, some studies have combined the hybrid leapfrog algorithm to improve the convergence speed of neural network training, and some studies have introduced radial bas...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0212G05D1/0221
Inventor 范影乐魏楚洁韩显修武薇
Owner HANGZHOU DIANZI UNIV
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