The Performance of Improved Infotaxis in 3D Turbulence

Emergency response to harmful gases in the environment is an important research field in environmental monitoring. In recent years, more autonomous search algorithms for harmful gas emission sources in uncertain environments have been proposed, which can avoid close contact with harmful gas by emergency personnel. In this paper, Infotaxis is extended to three-dimensional scene for application, and the source guidance in the reward function of the traditional Infotaxis algorithm is too small and the seven alternative direction movement methods in three-dimensional scenes tend to search by layers is optimized. At the same time, two multi-directional movement strategies based on the source guidance algorithm are proposed. The performance of the improved Infotaixs algorithm is analyzed under three internal release source conditions and two external environmental conditions, and the relative optimal mobile strategy is obtained. Many simulation experiments show that compared with the traditional Infotaxis algorithm, the Infotaxis algorithm based on source guidance with 14 alternative directions reduces the mean search path by 25.97% and improves the success rate by 0.2% in three-dimensional scene.