He G., 2018, Research on Multirobot Chemical Source Positioning Based on Glowworm Swarm Optimization, Chemical Engineering Transactions, 66, 1033-1038.
The leakage of harmful chemical sources will cause great harm to the environment and human beings; therefore, it is of great social significance to use intelligent mobile robots to achieve accurate and rapid positioning and control of chemical sources. Based on the basic Glowworm Swarm Optimization (GSO), this paper proposes a self-searching mechanism and variable step size optimized GSO for solving the problems of low accuracy and slow convergence speed. This paper studies chemical source positioning problem of multi- robots under no-ventilation environment, and establishes an improved multi-source superposition Gaussian smoke-plume model and a robot model for the simulation experiments. The results show that the accuracy and speed of the positioning of chemical sources by the optimized GSO have been significantly improved.
