Simulated Annealing Algorithm Based Single Robot Odor Source Localization Strategy

Abstract

This paper presents a search strategy for single mobile robots to realize the active olfaction (also called odor/gas source localization or plume tracing). The odor source localization is regarded as a kind of dynamic function optimization problem in this article, using the simulated annealing algorithm to calculate the optimal solution of density distribution function, namely the odor source location. The simulation experiments results in indoor ventilated environment show that the robot can track in plume and locate the odor source under the area of the 10m*10m, and it can effectively jump out of local maximum values in the process of search.