Improved ‘Infotaxis’ Algorithm-Based Cooperative Multi-USV Pollution Source Search Approach in Lake Water Environment

Abstract

This paper studies the cooperation method of multi-cooperative Unmanned Surface Vehicles (USVs) for chemical pollution source monitoring in a dynamic water environment. Multiple USVs formed a mobile sensor network in a symmetrical or asymmetrical formation. Based on ‘Infotaxis’ algorithms for multi-USV, an improved shared probability is proposed for solving the problems of low success rate and low efficiency resulting from the cognitive differences of multi-USV in cooperative exploration. By introducing the confidence factor, the cognitive differences between USVs are coordinated. The success rate and the efficiency of exploration are improved. To further optimize the exploration strategy, the particle swarm optimization (PSO) algorithm is introduced into the ‘Infotaxis’ algorithm to plan the USVs’ exploration path. This method is called the ‘PSO-Infotaxis’ algorithm. The effectiveness of the proposed method is verified by simulation and laboratory experiments. A comparison of the test results shows that the ‘PSO-Infotaxis’ algorithm is superior with respect to exploring efficiency. It can reduce the uncertainty of the estimation for source location faster and has lower exploration time, which is most important for the exploration of a large range of water areas.

[Retracted] Income Gap Equalization Based on PSO Algorithm in Edge Computing Environment

“…Huang summarized the research on computing offloading strategies in recent years, mainly according to the offloading types of computing offloading and optimization objectives and proposed solutions, scenarios, and evaluation methods for classification and summary. The possible application directions of MEC in the future will mainly focus on dynamic content optimization, Internet of Things, mobile big data analysis, and intelligent transportation [ 12 ].…”

Cooperative Source Detection Using an Optimized Distributed Levy Flight Algorithm

“…There are many exploitation methods that have been widely studied and proposed based on swarm intelligence (SI) such as Particle Swarm Optimization [6][7][8], Ant Colony Optimization [9], Bean Optimization [10] and Bacteria Chemotaxis [11]. Other exploitation methods include pattern formation [12], infotaxis [13], behavior-based [14] and hybrid method [15]. These algorithms require a continuous detectable source signal intensity and will fail to work in case of the source signal is not detected.…”

Hybrid Control Architecture of an Unmanned Surface Vehicle Used for Water Quality Monitoring

“…Among its applications, it can detect heavy metals and dispersed oil up to 50 meters as a remotely operated submersible vehicle (ROV) [9]. In addition, a USV can operate in cooperative missions for contaminant source detection in a dynamic aquatic environment [10]. USVs are also used to solve environmental problems, such as water spills; novel techniques generate optimal trajectories for USVs in liquid contaminant suction missions [11]; low-cost USV initiatives are thus being developed for less than $300, whereby ship hydrodynamics or certified payload instrumentation are neglected, with the drawback of being an unfeasible solution for governmental and industrial official reporting.…”