中文摘要：

考虑机器人间的通信受限约束，将机器人抽象为微粒，提出基于微粒群优化的多机器人气味寻源方法．首先，采用结合斥力函数的策略，引导机器人快速搜索烟羽；然后，基于无线信号对数距离损耗模型，估计机器人间的通讯范围，据此形成微粒群的动态拓扑结构，并确定微粒的全局极值；最后，将传感器的采样，恢复时间融入微粒更新公式，以跟踪烟羽．将所提出方法应用于3个不同场景的气味寻源，实验结果验证了该方法的有效性．

英文摘要：

Considering the constraint of limited communication among robots, a method of localizing odor sources using multiple robots based on particle swarm optimization is presented on the condition of abstracting each robot as a particle. Firstly, a strategy incorporating with a repulsive function is utilized to guide a robot to rapidly search for a plume. Then the range of communication among robots is estimated based on the log-distance loss model of wireless signal propagation to form a dynamic topology structure of a particle swarm and to determine the global optimum of particles. Finally, the sampling/recovery time of a sensor is incorporated to update a particle so as to trace the plume. The proposed method is applied to localize odor sources in three various scenarios and the experimental results show its effectiveness.