Multi-robot based odor source declaration in 3D airflow fields
- Resource Type
- Conference
- Authors
- Wang, Ying; Meng, Qing-Hao; Luo, Bing; Zeng, Ming; Xue, Le; Ma, Shu-Gen
- Source
- 2016 12th World Congress on Intelligent Control and Automation (WCICA) Intelligent Control and Automation (WCICA), 2016 12th World Congress on. :384-388 Jun, 2016
- Subject
- Aerospace
Bioengineering
Communication, Networking and Broadcast Technologies
Computing and Processing
Nuclear Engineering
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Decision support systems
Conferences
Robot sensing systems
TV
Fluids
Intelligent control
- Language
A multi-robot based mass flux divergence algorithm for odor source declaration in 3-dimensional flow fields is proposed. In this algorithm, four robots form a regular tetrahedron, computing the divergence value at tetrahedral center through gas concentration and fluid velocity sampled at the four vertices. Taylor-series expansion is given to calculate the mass flux divergence in the case of unknown gas concentration and fluid velocity distribution, which increases the application range of the proposed algorithm. The simulation results show that the algorithm could judge the odor source in 3-dimensional flow fields.