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

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.