Subscribe Now Subscribe Today
Research Article

Study on Robot Search Gas Leakage Source by Entropy and Its Simulation

Xiaojun Zhang, Jianhua Zhang , Minglu Zhang and Hui Li
Facebook Twitter Digg Reddit Linkedin StumbleUpon E-mail

In this study, a new search strategy of robot for the gas leakage source is proposed. The searching algorithm based on information entropy and upwind information, is established by analyzing the link between the gas leakage source searching and obtaining information. This search strategy can improve the efficiency of global search by changing entropy mode and upwind search mode adaptively. The structure of the information entropy search algorithm is analyzed. The flow field distribution and concentration information is got by CFD simulation. The robot search gas leakage source simulation platform is established by combining the CFD with Matlab. The proposed search algorithms are simulated with different search conditions. The results of simulation indicate that information entropy combined with the upwind search strategy can improve the search efficiency and can be used in the actual gas leakage source search by robot.

Related Articles in ASCI
Similar Articles in this Journal
Search in Google Scholar
View Citation
Report Citation

  How to cite this article:

Xiaojun Zhang, Jianhua Zhang , Minglu Zhang and Hui Li , 2013. Study on Robot Search Gas Leakage Source by Entropy and Its Simulation. Journal of Applied Sciences, 13: 3007-3019.

DOI: 10.3923/jas.2013.3007.3019


1:  Farrell, J.A., S. Pang and W. Li, 2005. Chemical plume tracing via an autonomous underwater vehicle. J. Oceanic Eng., 30: 428-442.
CrossRef  |  Direct Link  |  

2:  Farrell, J.A., S. Pang and W. Li, 2003. Plume mapping via hidden Markov methods. IEEE Trans. Syst. Man Cybern. B Cybern., 33: 850-863.
PubMed  |  

3:  Iacono, G.L. and A.M. Reynolds, 2008. Modelling of concentrations along a moving observer in an inhomogeneous plume. Biological application: Model of odour-mediated insect flights. Environ. Fluid Mech., 8: 147-168.
CrossRef  |  Direct Link  |  

4:  Ishida, H., K. Suetsugu, T. Nakamoto and T. Moriizumi, 1994. Study of autonomous mobile sensing system for localization of odor source using gas sensors and anemometric sensors. Sensors Actuators A: Phys., 45: 153-157.
CrossRef  |  Direct Link  |  

5:  Ishida, H., H. Tanaka, H. Taniguchi and T. Moriizumi, 2006. Mobile robot navigation using vision and olfaction to search for a gas/odor source. Auton. Robot, 20: 231-238.
CrossRef  |  Direct Link  |  

6:  Kowadlo, G., D. Rawlinson, R.A. Russell and R. Jarvis, 2006. Bi-modal search using complementary sensing (olfaction/vision) for odour source localization. Proceedings of the IEEE International Conference on Robotics and Automation, May 15-19, 2006, Orlando, Florida, USA., pp: 2041-2046.

7:  Lilienthal, A.J. and T. Duckett, 2003. Creating gas concentration gridmaps with a mobile robot. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, October 27-31, 2003, USA., pp: 118-123.

8:  Lilienthal, A.J., D. Reimann and A. Zell, 2003. Gas Source Tracing with a Mobile Robot using an Adapted Moth Strategy. In: Autonome Mobile Systeme, Dillmann, R., H. Worn and T. Gockel (Eds.). Springer, USA., ISBN: 978-3-540-20142-7, pp: 150-160.

9:  Pang, S. and J.A. Farrell, 2006. Chemical plume source localization. IEEE Trans. Syst. Man Cybern. B Cybern.,. 36: 1068-1080.
PubMed  |  

10:  Meng, Q.H., F. Li, M.L. Zhang, M. Zeng and X.B. Wei, 2008. Study on realization method of multi-robot active olfaction in turbulent plume environments. Acta Automatica Sinica, 34: 1281-1290.
Direct Link  |  

11:  Rozas, R., J. Morales and D. Vega, 1991. Artificial smell detection for robotic navigation. Proceedings of the 5th International Conference on Advanced Robotics, June 19-22, 1991, Pisa, Italy, pp: 1730-1733.

12:  Spears, D.F., D.R. Thayer and D.V. Zarzhitsky, 2009. Foundations of swarm robotic chemical plume tracing from a fluid dynamics perspective. Int. J. Intell. Comput. Cybern., 2: 745-785.
CrossRef  |  Direct Link  |  

13:  Zhang, X.J., 2009. Strategy and experimental research on robot odor source localization based on olfaction information. Ph.D. Thesis, Hebei University of Technology, Tianjin.

©  2021 Science Alert. All Rights Reserved