A Gas Source Localization Method for Cooperative Robots Based on Bio-inspired Algorithm

The bio-inspired gas source localization algorithm simulates the forward strategies of various organisms in gas environments, imitating the behaviors and interactions of living creatures in nature to achieve gas source localization. By combining cluster coordinated control, the algorithm leverages strengths and avoids weaknesses, achieving a gas source localization method with low computational costs, high efficiency, and high success rates. This paper proposes a multi-robot cooperative bio-inspired gas source localization method based on the simple Braitenberg strategy. Firstly, a typical maximum coverage problem is introduced from operations research to optimize the gas discovery efficiency in the gas source localization process. Secondly, a multi-robot cooperative algorithm based on the Braitenberg strategy is designed to improve the efficiency of gas source tracking. Finally, a trajectory planning method for multiple mobile robots based on dynamic priority is utilized to avoid collisions. Resulting in a low-cost, efficient, and safe multi-robot cooperative bio-inspired gas source localization.