Multi-robot based odor source declaration in 3D airflow fields

Abstract

A multi-robot based mass flux divergence algorithm for odor source declaration in 3-dimensional flow fields is proposed. In this algorithm, four robots form a regular tetrahedron, computing the divergence value at tetrahedral center through gas concentration and fluid velocity sampled at the four vertices. Taylor-series expansion is given to calculate the mass flux divergence in the case of unknown gas concentration and fluid velocity distribution, which increases the application range of the proposed algorithm. The simulation results show that the algorithm could judge the odor source in 3-dimensional flow fields.