ZHANG Qian,PEI Hailong,WU Yilin.Boundary tracking of water pollution concentration field based on spatial interpolation[J].Acta Scientiarum Naturalium Universitatis Sunyatseni,2022,61(02):171-179.
ZHANG Qian,PEI Hailong,WU Yilin.Boundary tracking of water pollution concentration field based on spatial interpolation[J].Acta Scientiarum Naturalium Universitatis Sunyatseni,2022,61(02):171-179. DOI: 10.13471/j.cnki.acta.snus.2020A042.
Boundary tracking of water pollution concentration field based on spatial interpolation
Aiming at the problem of boundary tracking of water pollution diffusion concentration, the geostatistical spatial interpolation is performed to reconstruct the pollution diffusion concentration field through random sampling and comparison of different fitting parameters. According to the fitting parameters of reconstructing the concentration field, the model predictive control method is used to optimize the movement trajectory of water surface mobile robot, and control the movement of mobile robot to track the pollution diffusion boundary. The simulation results show that the method can accurately predict the concentration field distribution, and make the mobile robot quickly converge to the established concentration boundary, which verifies the effectiveness of the method.