Multi-unmanned aerial vehicle gas leakage source positioning method based on improved seagull algorithm

Abstract

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.

Description

technical field [0001] The invention relates to a method for locating a gas leakage source coordinated by multiple drones, and belongs to the field of multi-rotor drones and atmospheric environment monitoring. Background technique [0002] As an important support for my country's economic development, the impact of industrial development on the economy is obvious, but the ensuing environmental pollution problems are also becoming more and more prominent. At present, atmospheric environmental pollution occurs from time to time, such as the abnormal smell produced by the emission of polluted gases in the process of industrial production, which often causes dissatisfaction and complaints from residents. How to find the source of pollution in the shortest time and provide the fastest technology for the treatment of atmospheric environmental pollution Support is very important. At present, fixed monitoring stations or ground mobile robots are mostly used in the location of gas l...

AI Technical Summary

Problems solved by technology

This patent uses the seagull algorithm for the first time to solve the technical problem of gas leakage source location, but there are still the following problems in the application process: in the standard seagull algorithm, the most important characteristics of seagulls are migration and attack behavior, and the balance algorithm in migration behavior The setting of sub-B makes the algorithm greatly extend the distance between the current individual and the optimal individual, so that the individual can approach the optimal individual with a larger step in the next position update, and the overall convergence speed is faster, but in It is easy to miss the optimal value during the iterative process; secondly, the random value of the spiral radius r in the attack behavior will make the moving direction of the individual more disordered; finally, the algorithm as a whole lacks the random exploration process of the individual, resulting in other individuals unconditionally during the iterative process. Following the current optimal individual, it is easy to fall into local optimum

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