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Gradient free source-seeking using flocking behavior
Publikationstyp
Conference Paper
Publikationsdatum
2019-07
Sprache
English
Institut
TORE-URI
Volume
2019
Start Page
4647
End Page
4652
Article Number
8815372
Citation
Proceedings of the American Control Conference : 8815372 (2019-07)
Contribution to Conference
Scopus ID
2-s2.0-85072300206
In this paper we propose a novel scheme that allows a group of mobile agents equipped with sensing capabilities to locate the unknown maximum of a scalar field. The scheme avoids the restrictions associated with gradient estimation, imposing predetermined formations on the agents or global localization. Instead the flocking approach is combined with a technique inspired by glowworm swarm optimization. Under reasonable assumptions we prove stability and boundedness of trajectories. 3-D simulation as well as 2-D experimental results illustrate that the proposed method outperform an existing technique in terms of smoothness of the trajectories.