Open AccessElectromagnetic signal source seeking of multiple robots using an event‐triggered communication scheme
Author(s) -
Pan LiGang,
Lu Qiang
Publication year - 2018
Publication title -
electronics letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.375
H-Index - 146
eISSN - 1350-911X
pISSN - 0013-5194
DOI - 10.1049/el.2018.5238
Subject(s) - signal (programming language) , scheme (mathematics) , robot , event (particle physics) , computer science , radio signal , mobile robot , control theory (sociology) , electronic engineering , engineering , artificial intelligence , control (management) , telecommunications , mathematics , physics , radio frequency , mathematical analysis , quantum mechanics , programming language
This Letter deals with the problem of seeking an electromagnetic signal source using a group of autonomous robots by designing an event‐triggered communication scheme. First, the finite difference method based on radial basis functions is used to estimate the gradient of the scalar field generated by the signal source. Second, a consensus controller is proposed to control multiple robots to seek the signal source along the gradient ascend direction. At the same time, an event‐triggered communication scheme is designed such that the burden of communication can be lightened. Finally, simulation and experimental results show the effectiveness of the proposed event‐triggered communication scheme for the problem of seeking an electromagnetic signal source.