Multi-unmanned aerial vehicle gas leakage source positioning method based on improved seagull algorithm
A gas leakage, multi-UAV technology, applied in calculation, calculation model, liquid tightness measurement using liquid/vacuum degree, etc., can solve the problems of easily falling into local optimum, prolonging the distance, and the algorithm lacking random exploration process, etc.
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[0039] The specific implementation of the invention is as follows:
[0040] Step 1: Detecting the gas pollutant concentration value under the gas leak source, the gas contaminant concentration value is significantly exceeded, and the initial judgment may have a corporate stealing behavior, then start the emergency traceability process;
[0041] Step 2: Set 5 drones in the area to be monitored, the initial position of the drone;
[0042]Step 3: Search for gas leakage by improving the seagull algorithm;
[0043] Step 4: Update the position of each drone;
[0044] Step 5: Judging whether the gas leak source is positioned successfully, if successful, perform step 6, otherwise return step 3;
[0045] Step 6: The drone finds the gas leak source, the end of the emergency traceability, the output gas leak source position.
[0046] The improved seagull algorithm proposed in the step 3 includes the following steps:
[0047] Step 1: Initialization setting, including the number of popsize, de...
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