结合空间插值的水污染浓度边界跟踪

Boundary tracking of water pollution concentration field based on spatial interpolation

针对水污染扩散浓度边界跟踪的问题,通过随机采样以及比较不同的拟合参数,对浓度场进行地统计学空间插值运算,重构污染源扩散浓度场,再根据浓度场重构时参数拟合的结果,采用模型预测控制方式,对水面移动机器人移动轨迹进行寻优,控制移动机器人移动并最终实现对污染扩散边界进行跟踪。仿真结果表明,该方法能够准确预测浓度场分布,并使得移动机器人快速跟踪到既定浓度边界,验证了该方法的有效性。

Aiming at the problem of boundary tracking of water pollution diffusion concentration,the geostatistical spatial interpolation is performed to reconstruct the pollution diffusion concentration field through random sampling and comparison of different fitting parameters.According to the fitting pa‐rameters of reconstructing the concentration field,the model predictive control method is used to opti‐mize the movement trajectory of water surface mobile robot,and control the movement of mobile ro‐bot to track the pollution diffusion boundary.The simulation results show that the method can accurate‐ly predict the concentration field distribution,and make the mobile robot quickly converge to the estab‐lished concentration boundary,which verifies the effectiveness of the method.