کنفرانس مهندسی برق ایران

صفحه اصلی / سی و سومین کنفرانس بین المللی مهندسی برق

Source Seeking Via Circular Formation of n-Nonholonomic Agents in a 2-D Environment

نویسندگان :

Milad Ghane¹ Mohsen Mojiri² Mohammad Ali Ghadiri-Modarres³ Elaheh Zadhoosh⁴

1- دانشگاه صنعتی اصفهان 2- دانشگاه صنعتی اصفهان 3- دانشگاه صنعتی اراک 4- دانشگاه صنعتی اصفهان

کلمات کلیدی :

Source seeking،Multi-agent،Circular formation،Averaging and singular perturbations،Bounded velocity

چکیده :

We consider the problem of directing n-nonholonomic agents to seek a source in two dimensional environments. A new scheme for tunning the angular velocity of the agents is proposed. The modified control scheme guarantees that the agents converge to a neighborhood of a source from different initial positions. At the steady state, form a circular formation with the same angular distance from each other and start to rotate around the source. During this process, all of the agents have bounded forward and angular velocities. A stability analysis of the scheme is carried out using the local averaging and singular perturbation theory and its performance is illustrated through carefully studied simulation examples.