| Issue |
E3S Web Conf.
Volume 356, 2022
The 16th ROOMVENT Conference (ROOMVENT 2022)
|
|
|---|---|---|
| Article Number | 04008 | |
| Number of page(s) | 4 | |
| Section | Airflow Visualization, Measurement and Simulation | |
| DOI | https://doi.org/10.1051/e3sconf/202235604008 | |
| Published online | 31 August 2022 | |
Experimental study on multi-robot 3D source localization in indoor environments with weak airflow
1 Department of HVAC, College of Urban Construction, Nanjing Tech University, Nanjing, 210009, P.R. China
2 Jiangsu Provincial Architectural D&R Institute LTD, Nanjing, 210019, P.R. China
* Corresponding author: caihao@njtech.edu.cn (H. Cai)
The purpose of this paper is to provide a new method for solving the problem of the 3D source localization in indoor environments with weak airflow by the experimental study on the multi-robot method. For this purpose, we developed a 3D MRO (mobile robot olfaction) system consisting of three mobile robots. The gas sensor carried with each robot has a moving range of 0.5 m to 1.5 m on the Z-axis. A total of 60 experiments were conducted to validate and compare the standard whale optimization algorithm (SWOA) and the standard particle swarm optimization (SPSO) methods in a 7.65 m×4.1 m experimental area with two source heights (0.75 m and 1.05 m). For two source heights, the success rate and localization step of the SPSO method are 56.7% (17/30) and 31.4 steps, respectively. In addition, the success rate and localization step of the SWOA method are 80% (24/30) and 32.9 steps, respectively. These results show that the SWOA method has strong application potential in indoor environments with weak airflow.
© The Authors, published by EDP Sciences, 2022
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