仿生机制下的机器人嗅觉感知与定位研究-控制科学与工程专业论文.docx

万方数据 万方数据 Abstract Inspired by the animal olfactory function, more and more scholars begin to research the robot olfaction, the toxic gas leakage source localization has become one of the research focus. Gas leakage source location technology is also known as the robot active olfaction technology, which can be used to plant inspection, fire rescue and so on, with emphasis on social security nowadays, robot active olfaction technology has attracted more and more attention. In this paper, the odor source localization has mainly done the following research: Analysis the commonly used gas diffusion model, and use Matlab to simulate Gauss gas diffusion simulation model, and analysis the influence of the wind speed on gas diffusion. Using Fluent to do the simulation of indoor smoke plume diffusion. Through the analysis of domestic and foreign odor source tracking algorithm, designed the robot gas leakage source localization algorithm that combined with Z shape search strategy and evolutionary gradient algorithm, we simulated the leakage of gas algorithm in Matlab software and proved the feasibility of the algorithm. To build a mobile robot system and equip with wireless positioning suite on the mobile smell robot at the same time, so that it can transmit the position information to the PC terminal. Design the experiment of indoor mobile robot localization, then the mobile robot can conduct odor source localization in a simple indoor environments and transmit the odor source coordinates to the PC. The main job of this paper is to design the odor source location strategy based on Z search algorithm and evolutionary gradient search algorithm. Inspired by the animal olfactory function. Meanwhile, the gas leakage source positioning robot is installed in the wireless position system, which can obtain the coordinates of the source of the gas leakage. Keywords: Mobile robot；Olfactory perception; Gas source localization; Wireless sensor positioning II 目 录 摘 要 .....................