How to determine location of toxic / hazardous gas leak source is the key issue for robot active olfaction technology to solve. Focus on mobile robot localization problem of gas leakage

combine Z-shaped algorithm with concentration gradient algorithm for robot motion control of odor source search

which make it quickly locate odor source. Meanwhile on the basis of traditional mobile olfaction smell robot

add wireless sensor positioning module

which allow operator can get coordinate information of odor source on the computer away from leak source.Experiments show that the robot can find source of leak and determine location of odor source

the search efficiency is higner than that of concentration gradient method alone.