Normalized Extremum Seeking and Its Application to Nonholonomic Source Localization

Path planning for fast swarm source seeking in unknown environments

“…27 To improve the performance of the conventional ESC, normalized ESC is proposed, 27 which normalizes the value of the objective function by a suitable normalization signal. Inspired by Ghadiri-Modarres and Mojiri, 27 this work extends the normalized ESC from 2-D to 3-D and applies it to swarm path planning. The system block diagram is shown in Figure 2, where the top-left block is the normalized ESC loop, the top-right block is the source signal mapping, and the bottom block is the velocity control loop for UAV.…”

“…26 To improve the source seeking performance, normalized ESC is proposed and its application to nonholonomic source localization ensures that the forward and angular velocities of the unicycle are within a bounded range, which improves the transient and steady-state performance of the system. 27 Our preliminary work 28 combines normalized ESC and artificial potential function, proposing a unicycle source seeking obstacle avoidance method with better robustness and transient performance. Currently, these methods have demonstrated promising outcomes in their respective targeted problems.…”

“…Alternatively, a source seeking method in unknown environments with convex obstacles is proposed, which ensures the vehicle generates a collision‐free path in an environment with obstacles by using ESC and artificial potential functions 26 . To improve the source seeking performance, normalized ESC is proposed and its application to nonholonomic source localization ensures that the forward and angular velocities of the unicycle are within a bounded range, which improves the transient and steady‐state performance of the system 27 . Our preliminary work 28 combines normalized ESC and artificial potential function, proposing a unicycle source seeking obstacle avoidance method with better robustness and transient performance.…”

Source-Seeking Control of Unicycle Robots With 3-D-Printed Flexible Piezoresistive Sensors

“…Another family of popular source-seeking methods are the extremum-seeking control (ESC)-based algorithms. Roughly speaking, it is based on the use of averaging technique via dither signals in order to extract the gradient information [29]. The dither signals are typically combined with the sensor signals and the control signals, and they can also be regarded as singular perturbation as studied in [31] and [32].…”

Source Seeking Control of Unicycle Robots with 3D-printed Flexible Piezoresistive Sensors

“…Another family of popular source seeking methods are the Extremum Seeking Control (ESC) based algorithms. Roughly speaking, it is based on the use of averaging technique via dither signals in order to extract the gradient information [29]. The dither signals are typically combined with the sensor signals and the control signals, and they can also be regarded as singular perturbation as studied in [31], [32].…”