Odor Tracing Method For Multiple Robots Based On Cuckoo Search Algorithm

In biological world,many organisms rely on odor information to capture food,avoid predators,find mate and other life activities.Some scholars are inspired by the biological behavior of using odor information.So they begin to utilize mobile robots to accomplish the task of odor source localization.This research also has wide application prospect,such as the detection of toxic gases leak,the rescue after disasters and the search of fires source.Cuckoo search algorithm is an excellent global optimization algorithm,and the quality of the solution does not relay on the mathematical model of problems.In this thesis,the cuckoo search algorithm is introduced in the research of robot active olfaction,and multiple robots are coordinated to search odor source.The main work of this thesis is as follows:Firstly,this thesis proposes a multi-robot odor source localization method based on cuckoo search algorithm.And this method combines local gas concentration optimization and upwind search.So it improves the efficiency of odor source localization.Secondly,computer simulations are carried out in dynamic plume simulation platform,testing the method proposed by this thesis.Its validity is vertified through a series of simulations.And the simulation results are detailedly analized.In addition,the proposed method compares with the method of ant colony algorithm combined upwind surge by computer simulation,vertifying the superiority of the method proposed by this thesis.Finally,the experiment platform of multi-robot odor source localization is set up and the proposed algorithm is vertified by experiments in indoor ventilated environment.The experiment platform is divided into five parts: OptiTrack motion capture systems,console,sensor data acquisition module,multiple robots,and PC.The experiment results vertify the feasibility of the method proposed by this thesis,and it can accomplish the task of odor source localization with a relatively high success rate.