Design and Performance Evaluation of Enumerating-Step Infotaxis Based Three-Dimensional for Odor Source Localization

Aiming at the problem that traditional cognitive strategies of fixed step in three-dimensional space is less efficient and easy to fall into local optimization in the near-source region, an Enumerating-step Infotaxis mechanism is proposed. In the search process, the change of entropy is used to adjust the search step in real time so as to enhance the robot's exploration in the early stage as well as the exploitation behavior in the later stage. Meanwhile, the enumeration factor is set up to find the optimal step-size tuning parameter considering the search requirements of different scenarios. In this paper, numerical simulation experiments are carried out on the search efficiency and information collection rate of Enumerating-step Infotaxis and popular Infotaxis, Infotaxis II, Entrotaxis algorithms. The results show that this scheme can improve the search efficiency of the robot in three-dimensional space and avoid the robot falling into a local optimal state in the search process.