分布式参数估计的多机器人放射源搜索策略  

Multi-robot Radioactive Source Search Strategy Based on Distributed Parameter Estimation

作　　者：霍建文[1] 刘宏伟[1] 凌铭润 罗明华 HUO Jianwen;LIU Hongwei;LING Mingrun;LUO Minghua(Robot Technology Used for Special Environment Key Laboratory of Sichuan Province,Southwest University of Science and Technology,Mianyang 621010,Sichuan,China)

机构地区：[1]西南科技大学特殊环境机器人技术四川省重点实验室,四川绵阳621010

出　　处：《西南科技大学学报》2023年第2期85-91,共7页Journal of Southwest University of Science and Technology

基　　金：国家自然科学基金(12205245);国防基础科研计划项目(JCKY2020404C001);四川省自然科学基金(2023NSFSC1437);西南科技大学博士基金(22zx7109)。

摘　　要：为在未知环境中快速、准确搜索失控放射物,将认知差异理论和一致性方法结合,提出了一种分布式参数估计的多机器人源项估计算法,以有效解决单机器人测量不准及运算量大等问题;将人工势场与信息熵结合,采用多机器人变步长分布式搜索策略以实现高效自主搜索。结果表明:本文算法与其他搜索策略相比具有更高的搜索成功率(92%)和更短的搜索时间。本文方法可用于核电站、化工厂等放射性及有毒有害物质泄漏的应急处置。To quickly and accurately search for out-of-control radiation in unknown environments,a multi-robot source term estimation algorithm based on distributed parameter estimation was proposed by combining cognitive difference theory and consistency methods.And this method can effectively solve the problems such as inaccurate measurement and large amount of calculation of the single robot.And then combining artificial potential field with information entropy,the multi-robot variable step size distributed search strategy was adopted to achieve efficient autonomous search.The results show that the proposed algorithm has a higher success rate(92%)and shorter search time compared to other search strategies.This method can be applied to scenes like nuclear power plants and chemical plants for emergency disposal of the leakage of radioactive and toxic and harmful substances.

关 键 词：多机器人 放射源搜索 认知差异 一致性 变步长策略 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]