Study On Chemical Plume Localization In Turbulent Environments

Artificial olfactory is used to detect the information of chemical plume for guiding robotto search, track and a series of actions. The development of Robotics, sensor technology andartificial intelligence technology provide the conditions for researching the active olfaction.This is very important for hydrothermal plume tracing by autonomous underwater vehicles.Based on this background, this paper focuses on chemical plume and research the followingcontent by consulting on domestic and foreign research:1、Understanding and grasping the knowledge of domestic and foreign about positioningtechnology of chemical plume source.2、Specific study the simulation technology of positioning technology about chemicalplume source. Reynolds equations are solved based on single-equation model to get flow fieldby referring on domestic and foreign research, and two-dimensional simulation platform forchemical plume is built.3、To compensate for the blank about three-dimensional simulation of hydrothermalplume, this paper simulate the diffusion of chemical concentration. N-S equations are solvedto get three-dimensional flow field, and chemical plume dispersion model reference tofilament-based atmospheric dispersion model, so three-dimensional hydrothermal plumesimulation platform can be built.4、Researching on the chemical plume source localization based on artificial potentialfield theory, This situation is concerned that the theory is not be test by experiment. Study onapplication of this theory and design task planner based on artificial potential field theory.5、 For full physical simulation, the wind speed sensor, smoke sensor, and themicrocontroller to receive data are selected to modify P3-DX robot from ordinary robot toolfactory robot and the appropriate procedures are designed.6、Experiments of measuring plume concentration building plume source probabilitydistribution are done by the olfactory robot to test robot and method of building plume sourceprobability distribution, plume source search experiment is done to test task planer based onartificial potential theory, and the results are analyzed in detail.