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A pollution detection method based on multi-agent coverage

A pollution detection and multi-agent technology, applied in the field of agents, to achieve the effects of reducing overlapping coverage areas, increasing area, and reducing the number of nodes

Active Publication Date: 2022-03-18
HANGZHOU DIANZI UNIV +1
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The present invention studies the above-mentioned coverage pollution problem, and proposes a multi-agent pollution coverage detection method based on Voronoi segmentation, which can allow the IMU one-wheeled robot carrying a portable environmental comprehensive detection and alarm instrument to be automatically configured to the optimal coverage detection based on the coverage detection method. Location; the agents abide by the Voronoi segmentation rules, maintain a reasonable distance, realize cooperation and contact, improve the efficiency of alarm detection and coverage, and save the number of agents used

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  • A pollution detection method based on multi-agent coverage

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Embodiment Construction

[0042] Step 1: Define the coverage area and divide it into Voronoi partitions.

[0043] Suppose Q is a convex polygonal area that needs to be covered for pollution detection. Any point in Q is denoted as q, and a group of multi-agents {1,...,n} is defined, and the positions of agents are given by P=(p 1 ,...,p n ) means that the agent k represents any agent in the multi-agent, namely k∈{1,…,n}, and each agent moves in the convex polygon area Q. Any point q in Q is responsible for the agent with the smallest distance cost, so as to obtain the optimal divided convex polygon area according to the coverage detection efficiency. The Voronoi partition of agent k is defined as follows:

[0044]

[0045] When two Voronoi partitions V k and V j When adjacent (that is, they share an edge), p j called p k neighboring agents (and vice versa). According to the definition of Voronoi partition, for any q on the boundary, there is min k∈{1,…,n} ||q-p k || 2 =||q-p j || 2 . Th...

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Abstract

The invention relates to a multi-agent coverage and pollution detection method. The present invention optimally covers the detection target area through a group of IMU wheeled robots carrying portable environment comprehensive detection and alarm instruments. A virtual centroid is defined by the agent, and a controller is used to ensure that the virtual centroid asymptotically coincides with the centroid of the Voronoi partition, so that the agent rotates around the centroid of the Voronoi partition, so as to increase the dynamic coverage area of ​​a single agent and realize the target area. The high-efficiency coverage, when volatile organic compounds appear, the portable environmental comprehensive detection and alarm instrument realizes the pollution alarm function.

Description

technical field [0001] The invention belongs to the technical field of intelligent agents, and relates to a multi-agent coverage and pollution detection method. Background technique [0002] Pollution usually refers to the phenomenon that certain harmful substances enter the atmosphere and endanger the environment due to human activities or natural processes. In the pollution detection system, it can be divided into three levels: pre-alarm, qualitative detection and precise detection. The pre-alarm link is the basic guarantee for the subsequent two-level detection, which plays a very important role in reducing pollution losses and formulating control measures. How to perform efficient coverage detection for the entire area and realize early warning is a difficult problem faced by current technology. [0003] In recent years, the coverage and detection of the task environment has gradually attracted the attention of the academic community. The traditional sensor detection m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0217
Inventor 寿坚黄娜王孟哲陈张平赵晓东孔亚广张帆何中杰张尧郑小青
Owner HANGZHOU DIANZI UNIV