多方向自适应步长的信息熵污染源定位方法.

The source localization method based on information entropy can realize gas source localization, and it has a wide range of applications in pollution source monitoring and other scenarios. However, the current research on this algorithm lacks a relevant analysis of the direction and step size of the motion set. In order to improve the efficiency of source localization, firstly, the motion set of the algorithm was expanded to provide more walking directions for the robot to effectively shorten the path. Secondly, an adaptive step size mechanism was added on this basis, so that the robot can restrain itself according to the search process. The step size can save time, thereby improving the performance of source localization. Finally, the simulation was carried out in two scenarios with and without obstacles. The results show that this method can effectively improve the efficiency of source localization. [ABSTRACT FROM AUTHOR]