Gas Leakage Source Localization Method Using Multi-UAV Based On Improved Artificial Fish Swarm Algorithm

Toxic and harmful gas leakage accidents are common in daily life and industrial production,which seriously endanger the safety of people’s life and property.At present,China has made some research achievements in emergency evacuation,risk assessment and consequence prediction of dangerous gas leakage accidents,but the research on the leakage source location technology of sudden dangerous gas leakage accidents is relatively little.After a sudden dangerous gas leakage accident occurs,it is difficult for rescuers to locate the leakage source in a timely and accurate manner,resulting in the inability to carry out efficient on-site emergency rescue and prevent the further expansion of the disaster accident.Therefore,it is very important to study how to locate the leakage source quickly and accurately for the emergency response to the accident.Based on the principle of active olfaction,we combine unmanned aerial vehicle(UAV)technology and swarm intelligence optimization algorithm to study a multi-UAV gas leak source location method based on an improved artificial fish swarm algorithm.The main work of this paper is as follows:(1)A simulation environment is established to verify the gas leakage source location method.Considering the characteristics of gas diffusion in real environment,gaussian plume model and CFD model are selected to simulate gas diffusion indoor and outdoor,and MATLAB and ANSYS Workbench are used to build the simulation experiment environment.(2)A multi-UAV gas leak source location method is proposed.In this paper,we apply artificial fish swarm algorithm to locate gas leakage source.We optimized the artificial fish swarm algorithm and retained the good search performance of the algorithm,and then proposed a multi-UAV gas leak source location method based on the improved artificial fish swarm algorithm,and verified the effectiveness and superiority of the method through simulation experiments.(3)A multi-UAV gas leak location system is designed.The whole system consists of ground control center,gas monitoring module and UAV module.The ground control center is used to control multiple UAVs to search for leak sources cooperatively,the gas monitoring module is used to obtain gas concentration data in space,and the UAV module is used to carry the gas monitoring module and perform flight tasks.(4)The gas leakage source location experiment is completed.Considering the safety of the experiment,we designed a 3D simulation experiment based on Air Sim platform before using real UAV,and then carried out the gas leak source location experiment outdoors and indoors.The feasibility of the gas leak source location method proposed in this paper is verified by experiments.