Design And Research Of The Aerial Robot System Based On The Active Olfactory

Research and analysis show that the environmental gas monitoring problem has gradually become the focus of attention,and it is of great significance to utilize the robot active olfactory technology to study this problem.How to realize the perception,tracking and source finding of three-dimensional air using the rotor unmanned aerial vehicle(UAV)becomes the key issue for robot to perform the active olfactory task.In view of this problem,an aerial robot system based on active olfactory is designed in this paper.The system combines autonomous flight platform and the olfactory sensor system,and deeply studies the aerial olfactory navigation based on the three-dimensional control method of segmented multiple olfactory algorithm.In this paper,the research of active olfactory based aerial robot system is as follows:(1)Based on the basic theory of attitude and altitude control of quadrotor,an autonomous robot based on interpolation navigation control is designed.An airborne controller is added on the original quadrotor,and the steering signal of quadrotor can be output by the interpolation navigation strategy,so as to control the autonomous flight of the UAV.(2)According to the relationship between olfactory sensor technology and flight base of autonomous UAV,a staggered olfactory robot system is proposed.The system is extended and staggered through the olfactory sensor system,which effectively avoids the influence of UAV airflow on sensor gas detection,and lays a foundation for the realization of robot gas tracking.(3)On the basis of analyzing the foraging behavior of moths,an air navigation strategy based on active olfactory is proposed.It adopts three-dimensional control method of multi-segmented olfactory algorithm.The odor source seeking process of UAV is divided into autonomous ascent,odor perception,odor tracking and coarse search source,then interpolation navigation ascent algorithm,Z-shaped search algorithm,concentration gradient algorithm are exploited respectively to achieve the control tasks at all stages and complete the air olfactory navigation of robot.