Research On Source-seeking And Simulation Of Multi-robot Based On NIM

The global chemical industry has made tremendous development,and mankind’s food,clothing,housing,and transportation are also inseparable from the chemical industry.However,the chemical industry is a double-edged sword that brings convenience to people and also brings some risks,such as the leakage of dangerous chemical substances.How to quickly determine the source of the leakage of dangerous substances will provide important help for timely stop loss and rescue work after such sudden accidents.Back-calculation of source intensity is a key task to determine the source of leakage.The optimization methods in back-calculation of source intensity are widely used because of their simplicity.Nature-inspired meta-heuristics(NIM)algorithms are developed based on natural processes or various habits of animals and plants in nature,such as foraging behavior and reproduction behavior.The algorithm does not rely on gradients,and it is not easy to fall into local optimum and is especially suitable for solving the back-calculation of source intensity problem.This subject mainly studies the problem of back-calculation of source intensity based on multi-robot,including:(1)Aiming at the problem of locating the source of dangerous gas leakage,this paper proposes the concept of source-seeking container.The source-seeking container includes multiple components:a nature-inspired meta-heuristic source-seeking algorithm framework is proposed,which can effectively solve the single-source problem,and can solve the multi-source seeking problem by citing niche technologies.The container supports the newly proposed metaheuristic algorithm to join the source-seeking algorithm framework;the sourceseeking process takes into account the relevant attributes of the robot group,such as moving speed,size,and priority;the source-seeking scene also considers static obstacles.The components in the seeking container can be arbitrarily modified to adapt to the actual source-seeking problem.After numerical simulation,in the case of single leakage source and multiple leakage sources,the source-seeking algorithm container can accurately find the leakage source.(2)Considering the high cost of using real robots to perform sourceseeking tasks,a source-seeking simulation software was developed to instantiate source-seeking containers to perform source-seeking tasks.The software not only considers the constraints of the robot and the constraints of the scene,but also proposes collision avoidance strategies to solve the robot collision problem in the actual simulation.The A-star algorithm and its variant algorithms are widely used in path search tasks,so the A-star path-finding algorithm is used to solve the path planning problem in the source-seeking simulation software.The source-seeking process simulation verifies the rationality of the framework design and the correctness of the program implementation.The python source code for the simulator has been open sourced on Github for users to download.