行为规划和浓度梯度法联合的河道污染源追踪定位方法

Tracking and locating channel pollution source combining behavior-based planning and concentration gradient method

面向河道突发污染源追踪定位需求,提出一种联合使用行为规划法和浓度梯度法的河道污染源追踪定位方法.设计2个模拟实验方案进行追踪搜索效果的分析与验证.利用河道污染物二维扩散模型仿真计算某河道污染物扩散数据,模拟移动监测小船对不同污染源位置的追踪路径和定位情况,对比分析了单一方法和联合方法在障碍物约束条件追踪搜索步数、路程、污染源定位精度等方面的优缺点.借助自主研发的小型移动式水质监测平台,进行避障算法和污染源追踪实验,验证结果表明,相比已有方法,所提方法更适用于复杂条件,且搜索效率更高.

A method for tracking and locating the emergency channel pollution source was put forward based on the improved behavior-based planning method and concentration gradient method.Two simulation programs were designed in order to analyze and verify the performance tracking and locating channel pollution source.The proposed method was validated in two-dimensional pollutant diffusion simulation in river channels,to simulate the tracking path and location of the mobile monitoring ship for different pollution sources.The advantages and disadvantages of single method and combined method were compared and analyzed in terms of the number of searching steps,distance and pollution positioning accuracy,in condition of obstacles.A small mobile water quality monitoring platform based on independent research and development was used to carry out the obstacle avoidance experiment and channel pollution source tracking and locating experiment.Results show that,the proposed method is more applicable to complex conditions and the search efficiency is higher than other existing methods.