Mobile robot based indoor smell source positioning method

Abstract

The invention discloses a mobile robot based indoor smell source positioning method. A mobile robot uses a Freescale cart as a mobile platform to establish an extension processor module, a sensor module and a power module. Smoke plume finding is performed by adopting a Z-shaped algorithm of boundary-encountered retrace, smoke plume tracking is performed by adopting an improved weighted vector guidance algorithm, and finally a smell source is confirmed by adopting a simplified quality flux divergence method. By means of the mobile robot based indoor smell source positioning method, indoor smell source positioning can be efficiently achieved.

Description

technical field [0001] The invention relates to the field of robot intelligence, in particular to a method for locating indoor odor sources based on a mobile robot. Background technique [0002] Robot odor source localization is a robot source-seeking problem, also known as robot active olfaction. Since the 1990s, some scholars have been inspired by the living habits of natural organisms relying on the sense of smell to find a mate, search for food, and avoid natural enemies. They combine odor sensors with mobile machines to "actively" locate the odor source. It is the process of using mobile robots to actively discover and track smoke plumes and determine the location of the odor source. A plume is the trail of odor / gas molecules released from the source, which spreads like a feather in the air under the action of the wind. The application of odor source location widely exists in production and life, especially in harsh environments, toxic (polluted), explosive and flamma...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of complex odor source positioning, the present invention proposes a mobile robot-based indoor odor source positioning

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