A cruise route design of robot-fish for the pollution source location

For the task of pollution source location in the use of environment monitoring robot-fish, there were two kinds of method to deal with the “cruise route”. One was discrete hill-climbing search method, and the other was spiral coverage scanning algorithm. It is easy to fall into local optimal point by means of hill-climbing search method only. Meanwhile, the problem of imprecise locating exists in the spiral coverage scanning algorithm. So we tried to use Spiral Coverage and Hill-climbing fusion algorithm with Concentration (C-SpiralHill algorithm) to locate the spot of pollution source. After the analyzing kinematics of the robot-fish swimming on the water surface, we designed a cruise route of robot-fish by means of C-SpiralHill algorithm. According to A.B.KAPAYMEB model of water pollution diffusion, we set up the simulation environment. The results showed the C-SpairalHill algorithm could locate the pollution source area and avoid robot-fish falling into local optimal resolution.