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Mathematical Problems in Engineering
Volume 2015, Article ID 678451, 16 pages
Research Article

Multiple Chemical Sources Localization Using Virtual Physics-Based Robots with Release Strategy

1School of Information and Electrical Engineering, China University of Mining and Technology, Xuzhou, Jiangsu 221116, China
2School of Science, Dalian Jiaotong University, Dalian, Liaoning 116028, China

Received 29 October 2014; Revised 5 January 2015; Accepted 8 January 2015

Academic Editor: Javier Moreno-Valenzuela

Copyright © 2015 Yuli Zhang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents a novel method of simultaneously locating chemical sources by a virtual physics-based multirobot system with a release strategy. The proposed release strategy includes setting forbidden area, releasing the robots from declared sources and escaping from it by a rotary force and goal force. This strategy can avoid the robots relocating the same source which has been located by other robots and leading them to move toward other sources. Various turbulent plume environments are simulated by Fluent and Gambit software, and a set of simulations are performed on different scenarios using a group of six robots or parallel search by multiple groups’ robots to validate the proposed methodology. The experimental results show that release strategy can be successfully used to find multiple chemical sources, even when multiple plumes overlap. It can also extend the operation of many chemical source localization algorithms developed for single source localization.