A Cruise Route Design of Robot-fish for the Pollution Source Location
For the task of pollution source location in the use of environment monitoring robot-fish,there were two kinds of method to deal with the “cruise route.One was discrete hill-climbing search method,and the other was spiral coverage scanning algorithm.It is easy to fall into local optimal point by means of hill-climbing search method only.Meanwhile,the problem of imprecise locating exists in the spiral coverage scanning algorithm.So we tried to use Spiral Coverage and Hill-climbing fusion algorithm with Concentration(C-SpiralHill algorithm)to locate the spot of pollution source.After the analyzing kinematics of the robot-fish swimming on the water surface,we designed a cruise route of robot-fish by means of C-SpiralHill algorithm.According to A.B.KAPAYMEB model of water pollution diffusion,we set up the simulation environment.The results showed the C-SpairalHill algorithm could locate the pollution source area and avoid robot-fish falling into local optimal resolution.
robot-fish pollution source location hill-climbing algorithm spiral coverage scanning algorithm concentration
Chao Wang Yaping Dai
School of Automation,Beijing Institute of Technology,Beijing 100081
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
8650-8656
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）