Affiliation:
1. School of Astronautics Harbin Institute of Technology Harbin China
2. Heilongjiang Longdian Electric Co. Harbin China
Abstract
SummaryThis article proposes a novel path planning method for source seeking by UAV swarm using extremum seeking control mechanism and combined artificial potential functions, without the knowledge of position information. In particular, the swarm source seeking problem is reformulated as a minimum seeking of a combined artificial potential function that considers the potentials of obstacles, source, and collision avoidance between UAVs. The explicit form of the combined artificial potential function is unknown and its value can be measured by the sensors mounted on UAVs. The fast extremum seeking mechanism based on the normalized extremum seeking method is exploited to find the gradient of the combined artificial potential function and the target is located without using its position information. Finally, extensive simulations of source seeking for single UAV and swarm are presented to illustrate the effectiveness of the proposed path planning method.
Funder
National Natural Science Foundation of China
Subject
Electrical and Electronic Engineering,Signal Processing,Control and Systems Engineering