A Novel Chemical Plume Tracing Method Using a Mobile Sensor Network without Anemometers

摘要

Chemical plume tracing (CPT) in time-varying airflow environments is addressed. A novel CPT method using a mobile sensor network (MSN) with fixed topology is proposed. The motion direction of the MSN is determined by the concentration detection-event probability. Unlike the existing multi-robot CPT methods, the global position of each mobile node is not needed in the fixed-topology MSN. In addition, anemometers are not used in the proposed CPT method. Furthermore, in the proposed MSN method, a sensor node measures chemical concentration and then communicates with the other nodes using binary value. Simulations in a large-scale advection-di('fusion airflow environments validate the convergence of the proposed MSN based CPT method.