A Novel Distributed Source Seeking Method Based on Multi-Robots Flocking

被引：0

作者：

Shao, Shiliang ^{[1
,2
,3
,4
]}

Wang, Ting ^{[2
,3
,4
]}

Song, Chunhe ^{[2
,3
,4
]}

Su, Yun ^{[2
,3
,4
]}

Chen, Xingchi ^{[1
]}

Zhao, Hai ^{[1
]}

机构：

[1] Northeastern Univ, Sch Comp Sci & Engn, CO-110819 Shenyang, Peoples R China

[2] Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, CO-110016 Shenyang, Peoples R China

[3] Chinese Acad Sci, Inst Robot, CO-110016 Shenyang, Peoples R China

[4] Chinese Acad Sci, Inst Intelligent Mfg, CO-110016 Shenyang, Peoples R China

来源：

2019 9TH IEEE ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2019) | 2019年

关键词：

ALGORITHMS; NAVIGATION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The purpose of this paper is to present a novel distributed source seeking scheme, and the scheme is based on multiple robots flocking(DSSF). Source seeking is to seek the source of some signal in environment. Flocking is a form that multiple robots move with flexible topological structure. Therefore, the proposed DSSF scheme is highly effective during the source seeking process. Furthermore, the proposed DSSF scheme will more efficient to finish source seeking task. Particularly, there exist two steps in DSSF scheme. In the first step, a robot calculates gradient velocity with its concentration information and its neighbors'. In the second process, the seeking velocities of robots are achieved by the importance of a robot in the flock. At last, the effectiveness and robustness of DSSF scheme is demonstrated.

引用

页码：654 / 658

页数：5

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