Odor source location method based on firework algorithm

Abstract

The invention relates to an odor source location method based on a firework algorithm. The method is characterized by comprising the following steps: 1), smoke plume finding and tracking: on the basis of an explosion mechanism of the firework algorithm, fireworks are exploded to generate sparks with a certain range (the explosion radius R), and each explosion comprises a location updating stage and a concentration information updating stage; 2) odor source determination: a firework explosion process is repeated, when an odor concentration valve C(Xi) of the current firework is detected to be larger than a preset threshold value C_max or the number of actual running iterations of the algorithm is larger than a set parameter it8a_max, the algorithm is stopped, and the final location of a robot is determined to be an odor source. With the adoption of the method, the functions of finding the smoke plume, tracking the smoke plume and locating the odor source are realized without wind direction information reference, and correction is carried out on the basis of an original firework algorithm explosion radius formula, so that the robot is effectively prevented from being in a local optimum state, the odor source can be located accurately and quickly and the search efficiency is improved greatly.

Description

technical field [0001] The invention relates to the field of active olfaction of robots, in particular to a method for locating odor sources based on fireworks algorithms. Background technique [0002] At present, due to the poor application effect of the existing traditional fixed (wireless) sensor networks and biological detection methods in the fields of toxic gas detection, fire building search, and anti-terrorism and risk elimination, a lot of manpower, financial and material resources are wasted, and there is a certain limitations. Mobile robots can actively search for target chemicals and determine their location, with larger coverage and better flexibility, and can overcome the shortcomings of biological fatigue and distraction. [0003] In recent years, the rapid development of robot technology has made it possible for robots to complete tasks in some harsh environments. Robot active olfactory (Active Olfaction) has become one of the hotspots in the field of robot...

AI Technical Summary

Problems solved by technology

[0006] In order to solve the shortcomings of the existing robot odor source location method that requires high environmental information, single function, and easy to fall into a local optimal state, the present invention proposes a robot odor source location method based on the fireworks algorithm. Without relying on wind direction information, it can make full use of its position and concentration information to find the plume, track the plume and avoid it from falling into the local optimum during the search process, and finally locate the odor source accurately, which greatly improves the search efficiency. efficiency

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