Path Planning for Unmanned Vehicle with Searching for Sources of Dangerous Gas Leaks

Aiming at the problem of locating gas leakage source in large areas, the rational use of unmanned systems for traceability is a necessary development trend, while the existing algorithms use passive sensors to detect too many sampling sites, which violates the principle of time urgency. The hybrid algorithm of gas traceability proposed in this paper, makes full use of the ability of fast iteration from the Trilateration Method, and the conservative optimization strategy from the Simplex Algorithm. At the same time, a combination method is introduced, which greatly improves the success rate and search efficiency of gas traceability. The new traceability method in planes enhances the practicality of existing algorithms.