Abstract
This paper deals with the problem of signal source localization using a group of autonomous robots by designing and analyzing a decision-control approach with an event-triggered communication scheme. The proposed decision-control approach includes two levels: a decision level and a control level. In the decision level, a particle filter is used to estimate the possible positions of the signal source. The estimated position of the signal source gradually approaches the real position of signal source with the movement of robots. In the control level, a consensus controller is proposed to control multiple robots to seek a signal source based on the estimated signal source position. 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 decision-control approach with the event-triggered communication scheme for the problem of signal source localization.
Highlights
Signal source localization can be widely found in nature and society [1,2,3,4,5,6,7]
One aspect is to estimate the possible positions of signal sources, while the other aspect is to control robots to locate signal sources based on the estimated positions [2,3]
We have proposed a decision-control approach with the event-triggered communication scheme for the problem of signal source localization
Summary
Signal source localization can be widely found in nature and society [1,2,3,4,5,6,7]. Some bacteria are able to find chemical or light sources through the perception of the external environment [1]. Reproducing this kind of behavior in mobile robots can be used to perform some complex missions such as monitoring environments [2,3,8,9], searching and rescuing victims [10], and so on. How to deal with the problem of signal source localization has attracted increasing interest from scientists and engineers and involves two aspects of study. Some approaches have been proposed for the problem of signal source localization. In [11], the SPSA
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