Study On The Method Of Odor Source Localization Based On FWA With Mobile Robot

In recent years,with the development of robot application technology and intelligent algorithms are widely used in the field of optimization,and an increasing number of hazardous chemicals are being accidentally leaked and the growing biochemical terrorist attacks every year,so it is urgent for us to develop a more efficient and robust odor source localization method to maintain social stability and security.The main contents of this paper is the research on the method of odor source localization with mobile robot which is equipped with odor sensor in different environments.However,the existing research results can not have the function of plume detection,plume tracing and odor source recognition,it requires robot switching algorithm to perform a complete positioning tasks in the three phase of odor source localization,and this will greatly reduce the efficiency of the odor source location method.Facing the plight of mobile robot odor source localization method,the emergence of Fireworks Algorithm can make up for the shortcomings of existing research results.In this paper,we apply the FWA to the field of robot active olfaction.First,we proposed a method of odor source localization based on FWA with one robot,and build the simulation environment of odor source diffusion in indoor ventilation environment using Gambit,Fluent and Tecplot software,the simulation experiment is carried out to guide the robot to locate the odor source based on the principle of fireworks explosion,the experimental results prove the feasibility of the method.Secondly,taking into account the actual environment,the odor source will form a number of vortices in the diffusion process,in order to improve the efficiency of the robot when searching for a local search invalid region,we set up a number of different simulation test environment(30*30 m2),which has different obstacles and the wind direction and wind speed is continuous change,the FWA was optimized,which is named as OSL-FWA,then we proposed a method of odor source localization based on OSL-FWA with one robot,a large number of experimental results show that the proposed method can greatly improve the efficiency of odor source localization.Finally,considering the robustness of single robot system is poor in practical environment,we use multi-robot systems for odor source localization.Then the OSL-FWA was optimized,which is named as AR-FWA,then we proposed a method of odor source localization based on AR-FWA with robots.In the simulation environment whose size is 50*50 m2,increasing the number of obstacles and the value of wind speed,a large number of simulation experiments show that the method has good robustness.