A Probability Distribution Based Cooperative Search Approach for Stochastic Source Localization

摘要

This paper copes with the problem of signal source seeking by proposing a cooperative search approach based on the probability distribution of the source position. For this method, each robot is regarded as a particle and the sensor installed on the robot can measure the strength of the signal filed. Moreover, each robot can generate a probability map of the source position by the proposed approach. Depending on the fusion of multiple probability maps, the multi-robot system can move toward the position. In addition, on the way to the source, the probability map can be updated in terms of new measurements. Finally, simulation results illustrate the performance capabilities of the proposed cooperative search approach.