Research Article
Cooperative Source Seeking in Scalar Field: A Virtual Structure-Based Spatial-Temporal Method
@INPROCEEDINGS{10.1007/978-3-030-67540-0_19, author={Cheng Xu and Yulin Chen and Shihong Duan and Hang Wu and Yue Qi}, title={Cooperative Source Seeking in Scalar Field: A Virtual Structure-Based Spatial-Temporal Method}, proceedings={Collaborative Computing: Networking, Applications and Worksharing. 16th EAI International Conference, CollaborateCom 2020, Shanghai, China, October 16--18, 2020, Proceedings, Part II}, proceedings_a={COLLABORATECOM PART 2}, year={2021}, month={1}, keywords={Cooperative computing Gradient estimation Source seeking Circular formation Spatial-temporal information}, doi={10.1007/978-3-030-67540-0_19} }- Cheng Xu
Yulin Chen
Shihong Duan
Hang Wu
Yue Qi
Year: 2021
Cooperative Source Seeking in Scalar Field: A Virtual Structure-Based Spatial-Temporal Method
COLLABORATECOM PART 2
Springer
DOI: 10.1007/978-3-030-67540-0_19
Abstract
Source seeking problem has been faced in many fields, especially in search and rescue applications such as first-response rescue, gas leak search, etc. We proposed a virtual structure based spatial-temporal method to realize cooperative source seeking using multi-agents. Spatially, a circular formation is considered to gather collaborative information and estimate the gradient direction of the formation center. In terms of temporal information, we make use of the formation positions in time sequence to construct a virtual structure sequence. Then, we fuse the sequential gradient as a whole. A control strategy with minimum movement cost is proposed. This strategy rotates the target formation by a certain angle to make the robot team achieve the minimum moving distance value when the circular team moves to the next position. Experimental results show that, compared with state-of-the-art, the proposed method can quickly find the source in as few distances as possible, so that the formation can minimize the movement distance during the moving process, and increase the efficiency of source seeking. Numerical simulations confirm the efficiency of the scheme put forth. Compared with state-of-the-art source seeking methods, the iterative steps of our proposed method is reduced by 20%, indicating that the method can find the signal source with higher efficiency and lower energy consumption, as well as better robustness.
