EXPERIMENTAL AND NUMERICAL VALIDATION ON A MULTI-ROBOT SOURCE LOCALIZATION METHOD FOR DYNAMIC INDOOR ENVIRONMENT

FENG Qi-lin; YANG Yi-bin; DENG Ye; CAI Hao; JIANG Ming-rui; LU Jing-yu; ZHANG Can-xin; ZHANG Bo-yuan

doi:10.13205/j.hjgc.202102012

Volume 39 Issue 2

Jul. 2021

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Article Navigation > ENVIRONMENTAL ENGINEERING > 2021 > 39(2): 73-81

FENG Qi-lin, YANG Yi-bin, DENG Ye, CAI Hao, JIANG Ming-rui, LU Jing-yu, ZHANG Can-xin, ZHANG Bo-yuan. EXPERIMENTAL AND NUMERICAL VALIDATION ON A MULTI-ROBOT SOURCE LOCALIZATION METHOD FOR DYNAMIC INDOOR ENVIRONMENT[J]. ENVIRONMENTAL ENGINEERING , 2021, 39(2): 73-81. doi: 10.13205/j.hjgc.202102012

Citation:

FENG Qi-lin, YANG Yi-bin, DENG Ye, CAI Hao, JIANG Ming-rui, LU Jing-yu, ZHANG Can-xin, ZHANG Bo-yuan. EXPERIMENTAL AND NUMERICAL VALIDATION ON A MULTI-ROBOT SOURCE LOCALIZATION METHOD FOR DYNAMIC INDOOR ENVIRONMENT[J]. ENVIRONMENTAL ENGINEERING , 2021, 39(2): 73-81. doi: 10.13205/j.hjgc.202102012

Citation:

FENG Qi-lin, YANG Yi-bin, DENG Ye, CAI Hao, JIANG Ming-rui, LU Jing-yu, ZHANG Can-xin, ZHANG Bo-yuan. EXPERIMENTAL AND NUMERICAL VALIDATION ON A MULTI-ROBOT SOURCE LOCALIZATION METHOD FOR DYNAMIC INDOOR ENVIRONMENT[J]. ENVIRONMENTAL ENGINEERING , 2021, 39(2): 73-81. doi: 10.13205/j.hjgc.202102012

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EXPERIMENTAL AND NUMERICAL VALIDATION ON A MULTI-ROBOT SOURCE LOCALIZATION METHOD FOR DYNAMIC INDOOR ENVIRONMENT

doi: 10.13205/j.hjgc.202102012

1. Institute of Defense Engineering, AMS, PLA, Beijing 100850, China;
2. Unit 96784 PLA, Luoyang 471300, China;
3. College of Urban Construction, Nanjing Tech University, Nanjing 210009, China

Received Date: 2020-02-22
Available Online: 2021-07-19

Abstract

Abstract

To quickly and accurately locate contaminant sources in dynamic indoor environments, this study presented a multi-robot source localization method (URPSO) by integrating concentration and airflow information and validated the method by combining robot experiments with numerical simulations. The experimental study was first conducted by using three mobile robots to locate an ethanol source in a typical dynamic indoor environment with a fan swinging periodically from left to right. A total of 14 out of 15 experiments were successful, with a success rate of 93.3%, indicating that the method had strong robustness. Next, according to the experimental environment, numerical robot experiments for locating the ethanol source were conducted. The results showed that the success rate and the average number of steps from numerical experiments were consistent with those from robot experiments, indicating the feasibility of using numerical simulations. Finally, 100 numerical experiments were further conducted by using URPSO method to locate an ethanol source in three typical dynamic indoor environments (mixing ventilation case MV, displacement ventilation case DV and natural ventilation case NV), respectively. For MV, DV and NV, the success rates were 100%, 92% and 81% respectively, indicating that URPSO method had high success rates in different dynamic indoor environments.
- indoor environment,
- dynamic airflow,
- source localization,
- multi-robot olfaction,
- experimental and numerical validation

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References(35)

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