基于主动嗅觉的室内时变污染源定位方法

为了预防和控制因室内空间中时变污染源突然泄漏引发的中毒、火灾和爆炸等灾害,针对室内时变污染源的定位建立了室内时变污染源泄漏的计算流体动力学(CFD)模型,并采用粒子群智能搜索策略,基于移动机器人的主动嗅觉提出了不依赖初值、计算效率高的室内时变污染源定位方法。通过对室内二维通风房间内泄漏速率呈衰减特征的时变污染源的泄漏模拟与源定位分析,展示了室内时变污染源定位方法的可操作性和可行性。研究结果表明:基于移动机器人主动嗅觉的室内时变污染源定位方法能在污染源泄漏一定时间后成功确定污染源位置,并且随着移动机器人数量的增加,室内时变污染源定位的成功率也相应增加;因移动机器人个数的增加会导致收敛速度变慢,源定位时间呈先减少后增加的变化趋势。

Time-variant contaminant source localization method based on active olfaction in indoor environment

To effectively prevent and control the disasters such as poisoning, fires and explosions due to the sudden leakage of indoor time-variant contaminant source, a CFD(computational fluid dynamics) model for the leakage of indoor time-variant contaminant source was established. Furthermore, based on active olfaction of mobile robots, an efficient and intelligent search strategy of particle swarm with initial value independence was proposed to locate the indoor time-variant contaminant source. Through the leakage simulation and source localization analysis of indoor decaying contaminant source in two-dimensional ventilation room, the practicability and feasibility of the proposed indoor time-variant contaminant source localization methodology was demonstrated and verified. The results show that indoor time-variant contaminant source localization method based on active olfaction of mobile robots can locate the indoor time-variant contaminant source successfully after a certain releasing time. With the increasing number of mobile robots, the successful locating rate of indoor time-variant contaminant source is also increased, but the time spent on locating the source increases after the first reducing trend due to the slowdown of convergence velocity.