CAJ | 학술논문

针对隧道内运输危险品（天然气）车辆在行驶过程中发生小孔泄漏导致天然气扩散的情况，提出一种机器人主动嗅觉定位算法。采用赋值的方法随机搜索气体，并根据进化梯度搜索算法来跟踪气体，保证移动机器人一直沿着由低浓度烟羽到高浓度烟羽运动并最终定位到泄漏点。烟羽环境采用基于Fluent的天然气扩散物理数学模型。模型采用基于雷诺时均方程和标准k-ε方程的湍流模拟，用SIMPLEC算法对N-S方程进行求解，并采用组分输运来解决多组分流体的扩散问题，完成二维动态烟羽模型的建立后将烟羽数据导入Matlab，将烟羽模型产生的数据与模拟移动机器人相结合，依据设计所提出的主动嗅觉定位算法进行气味源搜索及气味源确认的仿真，为隧道内车辆运输危险品泄漏事故的抢救及最大限度地减少损失提供了参考。
침대수도내운수위험품（천연기）차량재행사과정중발생소공설루도치천연기확산적정황，제출일충궤기인주동후각정위산법。채용부치적방법수궤수색기체，병근거진화제도수색산법래근종기체，보증이동궤기인일직연착유저농도연우도고농도연우운동병최종정위도설루점。연우배경채용기우Fluent적천연기확산물리수학모형。모형채용기우뢰낙시균방정화표준k-ε방정적단류모의，용SIMPLEC산법대N-S방정진행구해，병채용조분수운래해결다조분류체적확산문제，완성이유동태연우모형적건립후장연우수거도입Matlab，장연우모형산생적수거여모의이동궤기인상결합，의거설계소제출적주동후각정위산법진행기미원수색급기미원학인적방진，위수도내차량운수위험품설루사고적창구급최대한도지감소손실제공료삼고。
This paper proposed a robot active olfaction positioning algorithm for the situation of the vehicle trave-ling in the tunnel carrying dangerous goods (i.e.,natural gas)occur a leak led to the proliferation of natural gas. Assignment method is used to search the gas randomly,and evolution gradient search algorithm is used to track the gas,these two could complement each other to ensure the mobile robots move along the plume from lower con-centration to higher concentration and eventually locate the position of leakage.Plume of gas diffusion physical environment using a mathematical model based on Fluent,the turbulent flow are based on Reynolds time-averaged equations and standard k-εequation,SIMPLEC algorithm is used to solve the N-S equation and the component transportation is used to solve the problem of multi-component fluid diffusion process.Upon completion of the es-tablishment of two-dimensional dynamic model of the plume,and then the plume data was put into Matlab.Com-bine the data generated from plume model with analog mobile robot to search for the odor source and confirm the odor source by using active olfaction positioning algorithm the design proposed.This design provides a reference to minimize the loss and take effective rescue measures in the accident of transportation of dangerous goods suddenly leakage in a tunnel.