Abstract
In this paper, we compare the common plume-tracing algorithms: chemotaxis and anemotaxis in obstructed multi-source environment using multi-robot system. A multi-robot cooperation strategy with virtual physics force, which includes structure formation force, goal force, obstacle avoidance force, repulsion force and rotary force, is proposed. First, plume model with two sources in three obstacles environment is constructed by computation fluid dynamics simulations. Second, parallel searches by two groups robots with chemotaxis and anemotaxis are used to locate two sources in obstructed environment. Simulation comparison experiment with two plume-tracing algorithms discussed the influence of the varied wind direction/ speed frequency and methane release frequency and different initial positions of two groups to the search performance. Finally, the comparative result is illustrated.
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