Source Search Method of Mobile Nodes Formation Based on Leader Model

For the poor efficiency of single mobile node detection in large scene, a radiation source search method based on multiple nodes cooperation was proposed in this paper. On the basis of kinematics equation, multiple nodes keep triangular formation and detect at the same time. According to the leader motion parameters, the following nodes adjust the linear velocity and angle, and the pose and movement direction are accurately kept for each node. With the radiation source position estimation from Markov chain Monte Carlo (MCMC) algorithm, the leader direction is tuned to source orientation, and the detection queue is guided to approach the source. This method was verified by simulation experiments. In the process of source seeking, the detection queue follows the leader node to adjust the direction and gradually approaches the area where the source is located. At a specified safe distance from the source, the mobile nodes terminate the search procedure and stop at the position near it. Combined with the approximate position estimation from this method, the instrument suitable for accurate detection in local area can find the source efficiently and accurately.