Cooperative curve tracking in two dimensions without explicit estimation of the field gradient
Cooperative curve tracking in two dimensions without explicit estimation of the field gradient
复制标题
二维协作曲线跟踪，无需明确估计场梯度
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
Wencen Wu
中科院分区：
文献类型：
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作者：
Sarthak Chatterjee;Wencen Wu
我们为两个代理设计了一个控制律，以成功跟踪平面中的水平曲线，而无需明确估计场梯度。每个智能体的速度沿两个相互垂直的方向分解，并沿每个方向设计单独的控制律。我们证明，形成中心将收敛到具有所需水平值的水平曲线的邻域。该算法在存在噪声的优化问题中使用的一些测试函数上进行了测试。我们的结果表明，尽管控制律简单且无梯度，但我们能够成功地快速且高精度地跟踪噪声平面水平曲线。
We design a control law for two agents to successfully track a level curve in the plane without explicitly estimating the field gradient. The velocity of each agent is decomposed along two mutually perpendicular directions, and separate control laws are designed along each direction. We prove that the formation center will converge to the neighborhood of the level curve with the desired level value. The algorithm is tested on some test functions used in optimization problems in the presence of noise. Our results indicate that in spite of the control law being simple and gradient-free, we are able to successfully track noisy planar level curves fast and with a high degree of accuracy.