RAOS：3维机器人主动嗅觉仿真平台

doi:10.13973/j.cnki.robot.200270

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引用本文:
井涛, 杨子祯, 孟庆浩. RAOS：3维机器人主动嗅觉仿真平台[J]. 机器人, 2021, 43(3): 308-320.DOI: 10.13973/j.cnki.robot.200270. JING Tao, YANG Zizhen, MENG Qinghao. RAOS: A Three-dimensional Robot Active Olfaction Simulator. ROBOT, 2021, 43(3): 308-320. DOI: 10.13973/j.cnki.robot.200270.

摘要为便于开展气味源定位或烟羽建图等研究，设计了3维机器人主动嗅觉仿真平台RAOS（robot activeolfaction simulator）． RAOS围绕旋翼无人机主动嗅觉研究进行设计，同时支持地面移动机器人仿真，主要包括3维场景、机器人、风场、气味扩散及传感器仿真5部分．通过CAD（computer aided design）软件生成3维场景并导入仿真平台；采用CFD（computational fluid dynamics）软件仿真环境自由风场；基于旋翼无人机气动嗅觉效应模型仿真尾流诱导风场，并利用全连接网络近似计算诱导风场以提高计算实时性；结合CFD环境风场和烟丝扩散模型对气味扩散过程进行仿真；同时提出了简化的TDLAS（tunable diode laser absorption spectroscopy）传感器仿真模型．为验证仿真环境与真实环境中气味扩散过程的一致性，提出利用弗雷歇距离和推土机距离2个指标分别定量地描述气味扩散轮廓和气味浓度分布的相似性，结合KS（Kolmogorov-Smirnov）检验进行一致性判定．通过与实物实验及风洞数据对比，验证了RAOS平台仿真烟羽与真实环境烟羽扩散分布的一致性，可为3维环境主动嗅觉研究提供一致、可重复的仿真环境．

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	井涛
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	孟庆浩

关键词 ：主动嗅觉仿真, 旋翼无人机, 气动嗅觉效应, 仿真验证

Abstract：In order to facilitate research on odor source localization or odor plume mapping, a three-dimensional (3D) robot active olfaction simulator (RAOS) is designed. RAOS is mainly designed for the active olfaction research of rotor drones, and also supports the simulation of ground mobile robots. It can mainly simulate 3D scenes, robots, wind fields, odor diffusion and sensors. 3D scenes are generated by computer-aided design software and then imported into the simulator. The free wind field is simulated with a computational fluid dynamics (CFD) software. The wake-induced wind field is calculated based on the aero-olfactory effect model of rotor drone, where a fully-connected network is introduced to approximate the induced wind field, which can improve the real-time calculation. The odor diffusion is simulated by the environmental wind field and the filament diffusion model in CFD. A simplified simulation model is proposed for the tunable diode laser absorption spectroscopy (TDLAS) sensor. To verify the consistency of the odor diffusion in the simulator and in real environment, two criteria (Frechet distance and the earth mover’s distance) are employed to quantitatively evaluate the similarities of odor diffusion profile and concentration distribution, respectively. Kolmogorov-Smirnov (KS) test is introduced for consistency determination. By comparing with the actual experiment and wind tunnel data, the consistency of the odor plume distribution characteristics between RAOS and real environment is verified, which shows that RAOS can provide a consistent and repeatable simulation platform for the active olfaction research in 3D environments.

Key words： active olfaction simulation rotor drone aero-olfactory effect simulation validation

收稿日期: 2020-07-16 【基金专刊】 录用日期: 2020-10-13

TP24

基金资助:国家自然科学基金（61573253）；国家重点研发计划（2017YFC0306200）．

通讯作者: 孟庆浩，qh_meng@tju.edu.cn E-mail: qh_meng@tju.edu.cn

作者简介: 井涛（1990–），男，博士生．研究领域：机器人主动嗅觉
杨子祯（1995–），男，硕士生．研究领域：机器人主动嗅觉．

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.200270 或 https://robot.sia.cn/CN/Y2021/V43/I3/308

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