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All Journal IAES International Journal of Robotics and Automation (IJRA)
Adegunsoye, Adeola Erastus
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Automotive Engineering Electrical & Electronics Engineering

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A hybrid gradient climbing algorithm for a swarm robot-based gas leak detector Adegunsoye, Adeola Erastus; Ubochi, Brendan; Macaulay, John; Akingbade, Kayode Francis
IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 3: September 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v13i3.pp255-263

Abstract

Methane emissions from leak sources can have a negative climate impact, in addition to contributing to the risk of explosions in urban environments. These risks can be minimized by developing systems that provide for an accurate and timely detection and localization of a gas leakage point. This research used a swarm of robots to detect and locate a leakage point. The localization algorithm derives from further optimization of the gradient climbing algorithm using fireflies acting as opportunistic agents. Firefly agents are characterized by their bioluminescent communication which guides them to dynamically adjust their positions and intensities based on the quality of the gradient information available to them. The proposed research focuses on enhancing gas leak detection through the development of a hybrid gradient climbing algorithm. This algorithm integrates gradient climbing techniques with swarm intelligence, utilizing the strengths of both approaches. This simulation resulted in the hybrid algorithm leading to a reduced convergence time and path lengths when compared to the swarm without opportunistic agents. The suggested approach can be important especially in gas distribution systems or in areas where human intervention is considered to be unsafe.
Co-Authors Kayode Francis Akingbade Macaulay, John Ubochi, Brendan