Adaptive navigation enables a vehicle to autonomously modify its direction or motion path based on real-time measurements. This may be advantageous to achieve more time- and energy-efficient exploration of the scalar characteristics of an unknown and possibly dynamic region of interest (e.g., temperature, magnetic field, concentration level, etc.). Capabilities include finding local maximum/minimum points and following contours within the scalar field of interest. These capabilities have the potential to benefit a variety of applications such as environmental monitoring, disaster response, and exploration. This paper documents the initial results of a comprehensive program to develop, verify, and experimentally implement 3-dimensional adaptive navigation capability using the author's multilayer control architecture. This initial work focuses on source seeking/tracking, and describes the approach used for formation control of an appropriate multirobot formation, estimation of a field gradient, and the adaptive navigation control policy. Simulation results verify the functionality of this work for a fixed formation geometry navigating in both static and dynamic scalar fields.


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    Title :

    3-D Adaptive Navigation: Multirobot Formation Control for Seeking and Tracking of a Moving Source




    Publication date :

    2020-03-01


    Size :

    13364909 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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