Experimental Validation of Source Seeking with a Switching Strategy
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Author(s)
Wu, Wencen
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Abstract
We design a switching strategy for a group of
robots to search for a local minimum of an unknown noisy
scalar field. Starting with individual exploration, the robots
switch to cooperative exploration only when they are not able
to locate the field minimum based on the information collected
individually. In order to test and demonstrate the switching
strategy in real-world environment, we implement the switching
strategy on a multi-robot test-bed. The behaviors of a group of
robots are compared when different parameters for exploration
are adopted. Especially, we observe the effect of memory lengths
on the switching behaviors as predicted by theoretical results.
The experimental results also justify the effects of different
formation sizes and noise attenuation levels on the performance
of the cooperative H∞ filter that are utilized in the cooperative
exploration phase.
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Date
2011
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