针对湍流环境中机器人空间感知能力的不足,提出一种多弱感知机器人气味源搜索算法.该算法建立了气味源位置概率分布的近似表达式,机器人通过自由能最小化获得移动方向.各机器人之间通过共享位置信息实现协同,通过设定内部温度达到搜索过程中探索和利用的平衡.仿真结果验证了所提出算法的有效性. Aimed at the shortage of robot’s spatial perception in turbulent environment, a novel odor source search algorithm based on multi-weak robot is proposed. The approximate expression of the probability distribution of the odor source is established and the robot obtains the moving direction by minimizing the free energy. Through the sharing of location information to achieve synergy, by setting the internal temperature to search and explore the use of balance during the simulation results verify the effectiveness of the proposed algorithm.