如何确定有害气体泄漏源的位置是机器人主动嗅觉要解决的关键问题。围绕移动机器人气体泄漏源定位问题，将Z字形算法和浓度梯度法相结合用于机器人气味源搜索运动控制，使其快速找到气味源。同时，在传统的移动嗅觉机器人上增加了无线传感器定位模块，使操作人员在远离泄漏源的电脑上即可获得气味源的坐标信息。实验证明：机器人可以找到泄漏源，并确定气味源位置，搜索效率比单独使用浓度梯度法高。%How to determine location of toxic/hazardous gas leak source is the key issue for robot active olfaction technology to solve. Focus on mobile robot localization problem of gas leakage,combine Z-shaped algorithm with concentration gradient algorithm for robot motion control of odor source search,which make it quickly locate odor source. Meanwhile on the basis of traditional mobile olfaction smell robot,add wireless sensor positioning module, which allow operator can get coordinate information of odor source on the computer away from leak source. Experiments show that the robot can find source of leak and determine location of odor source,the search efficiency is higner than that of concentration gradient method alone.
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