The invention discloses a multi-
robot cooperation
odor source localization method based on an improved bacterial foraging
algorithm. The method comprises the following steps: a
smoke plume discovery stage, a
smoke plume tracking stage and an
odor source confirming stage; in the
smoke plume discovery stage, when an
odor smoke plume is not measured by robots, a whole
work space is divided into a plurality of areas by utilizing a Voronoi diagram method, and each
robot executes a random
smoke plume search strategy in the own corresponding work area; in the
smoke plume tracking stage, when the odor smoke plume is detected by the robots, next-search directions of the robots are determined through adoption of the improved bacterial foraging
algorithm, and automatic tracking of an odor is achieved; and, in the
odor source confirming stage, according to odor concentration values measured at positions where the robots locate and position change scopes of the robots, a position of an
odor source is determined. Multi-
robot distributed-type cooperation rapid localization of the
odor source is achieved, odor source searching efficiency and odor
source localization precision are substantially improved, and the multi-robot cooperation odor
source localization method can be applied to occasions of harmful / poisonous gas detection, searching after a disaster, rescues after the disaster and the like.