均匀扩散下机器人变步长气味源搜索算法

A Robotic Variable Step-size Searching Algorithm for Even Diffusion Odor

分析机器人依靠传感器通过测量地表土壤中气味浓度搜索地下气味源的定步长六边形路径算法的不足,对其进行改进。仿真表明,改进后的变步长算法具有很好的性能,能够针对呈均匀扩散的地下气味源,指导地面机器人完成气味跟踪和气味源定位双重任务。

This paper analyzed the disadvantages of the traditional algorithm of hex-path odor searching algorithm, which can guide a mobile robot with single gas sensor to search for underground odor source. It innovated the traditional algorithm and made computer simulation. The results conclude that the new algorithm can not only guide a mobile robot to trace underground odor source, but can guide a mobile robot to localize underground odor source as well.