Multi-robot cooperation odor source localization method based on improved bacterial foraging algorithm

Abstract

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.

Description

technical field [0001] The invention relates to a robot odor source positioning method, in particular to a multi-robot cooperative odor source positioning method based on an improved bacterial foraging algorithm, and belongs to the field of automatic detection and robot technology. Background technique [0002] In nature, many organisms use their sense of smell to find companions, search for food sources or communicate. With the development of sensor technology and robotics, since the 1990s, some scholars have tried to use robots to locate odor sources, which is called robot active olfaction. It can be widely used in the detection of toxic and harmful gases, in disaster relief, emergency rescue and even anti-terrorism , security and other fields have broad application prospects. [0003] The robot odor source localization can be divided into three stages: plume discovery, plume tracking and odor source confirmation. According to the establishment method of the plume model,...

AI Technical Summary

Problems solved by technology

[0005] Many of the above methods use random search strategies to find plumes, which has low search efficiency and high energy consumption, making it difficult to guide robots to quickly find plumes.

The bacterial foraging algorithm is derived from the intelligent behavior of Escherichia coli during the foraging process. It has the advantages of simplicity, good distributed robustness, and good scalability. However, the combination of bacterial foraging algorithm and robot odor source location , so far no effective method has been proposed

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