Research On Odor Traceability Method Of Unmanned Aerial Vehicle In Time-varying Airflow Environment

In today’s society in our daily life and industrial production,there are many gases that will cause harm to the human body after being inhaled by the human body,and there are many gases that will pollute the environment.Using traditional methods to use manually held detectors for troubleshooting is inefficient and does not ensure the safet-y of operators.So researchers began to study the use of odor sniffing robots to achiev-e active odor source search.However,there are still some defects and deficiencies in the field of active olfaction of today’s robots,and ground odor sniffing robots cannot rise to three-dimensional s-pace for odor tracking and traceability.In addition,the real surface environment is complex,with a large number of areas that cannot be passed through or will cause dama-ge to robots.Therefore,the use of flying robots for odor tracking is one of the development trends of robot active smell.Quadcopter UAV is a common UAV with a wide range of application sce-narios,an-d odor sensors can be installed on the UAV to achieve odor traceability-y.However,there are still some urgent problems to be solved in the use of dr-ones for this operation:First,the difference between a four-rotor drone and a gr-ound robot is that the propeler of the drone will disturb the nearby air flow,s-o that the odor sensor fixed on the d-rone cannot fully contact the target gas.S-econd,the existing domestic literature has litt-le research on the odor tracking and traceability method of a certain horizontal plane i-n three-dimensional space.In view of the above problems,this paper carries out the fol-lowing research work:First,in view of the problem of turbulence of the UAV propeller on the ai-r,the simulation software is used to simulate and analyze the air velocity arou-nd the UAV propeller at different speeds and heights.and the gas flow velocity around the UAV prope-ller is clearly displayed.In this way,we can find several 1-ocations that are less affected by the spiral slurry disturbance of the UAV to i-nstall the odor sensor,optimize the sensor array,and minimize the impact of the special working environment of the UAV on the odor traceability from the pe-rspective of engineering.Second,establish a simulation environment model.Static Gaussian distribution-n models,Fluent-based indoor plume diffusion models,and Farrell filament-base-d plume diffuse-on models were analyzed.The Farrell filament-based smoke plu-me diffusion model was determined to be the most suitable simulation environ-ment model for this paper.Third,based on the principle of bionics,the existing odor traceability method has been modified and optimized.It imitates the behavior of male moths in tracking female moths,taking advantage of its high tracking efficiency and long tracking distance.The o-ptimized tracking algorithm is verified in the simulate-on program,and the traceability of the variable air flow conditions is successful-lly realized,and the simulation results under different conditions are compared and analyzed.Fourth,the simulated annealing algorithm was introduced into the UAV odor traceab-ility,and the algorithm process was optimized for the special working environment of the UAV,and the entire search behavior process was designed,which was also verified in the simulation program.By controlling different variables,the effect of various parameters in the algorithm on the performance of the algorithm is compared and analyzed.Fifth,the moth bionic algorithm and the simulated annealing algorithm de-signed in this paper are compared and analyzed by the control variables,the a-dvantages and disadvantages of each under different environmental conditions a-re analyzed,and the main f-actors affecting the performance of the two algorith-ms are identified.