Abstract
Emergency response to hazardous gases in the environment is an important research field in environmental monitoring. In recent years, with the rapid development of sensor technology and mobile device technology, more autonomous search algorithms for hazardous gas emission sources are proposed in uncertain environment, which can avoid emergency personnel from contacting hazardous gas in a short distance. Infotaxis is an autonomous search strategy without a concentration gradient, which uses scattered sensor data to track the location of the release source in turbulent environment. This paper optimizes the imbalance of exploitation and exploration in the reward function of Infotaxis algorithm and proposes a mobile strategy for the three-dimensional scene. In two-dimensional and three-dimensional scenes, the average steps of search tasks are used as the evaluation criteria to analyze the information trend algorithm combined with different reward functions and mobile strategies. The results show that the balance between the exploitation item and exploration item of the reward function proposed in this paper is better than that of the reward function in the Infotaxis algorithm, no matter in the two-dimensional scenes or in the three-dimensional scenes.
Highlights
With the development of gas sensor technology and mobile device technology, more and more researchers are facing gas-related research
According to the search mode, the release source search algorithm can be divided into three categories: concentration tropism [6, 7], wind tropism [8,9,10], and information tropism [11]
When analyzing the performance of the Infotaxis algorithm in the three-dimensional scene, this paper proposed three kinds of mobile strategies combined with three kinds of reward functions. e cube of the three mobile strategies is shown in Figure 13, where the mobile searcher is located and marked with UAV icon. e cube marked in blue represents where the mobile searcher is likely to move at the moment
Summary
With the development of gas sensor technology and mobile device technology, more and more researchers are facing gas-related research. Masson [27] proposed a search algorithm in the twodmensional limited environment perception scene, which uses free energy as the information acquisition metric of mobile tracking devices. Ristic et al [30] used Renyi divergence as information acquisition to measure the autonomous search method based on sequential Monte Carlo combination in the twodimensional scene and analyzed it in combination with various reward functions. Rodrıguez et al [32] proposed a blind information algorithm in the two-dimensional scene and compared the search success rate with the traditional Infotaxis algorithm under a variety of fuzzy environment conditions. Park and Oh [13] conducted a large number of simulation analyses by applying a sequential Monte Carlo Infotaxis algorithm with particle filter and combined them with a variety of reward functions in a two-dimensional scene by using a multirobot. Erefore, this paper proposes a decision function for Infotaxis algorithm and analyzes the search performance of the new modified Infotaxis algorithms in two-dimensional and three-dimensional scenes using different mobile strategies as well as proposes a new mobile strategy for threedimensional search scenes
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