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22. 6. 2021.
A Hybrid Source Seeking Algorithm in Unknown Environments
In this paper, we present a hybrid adaptive feedback (HAF) obstacle-avoidance algorithm for source seeking applications that overcomes the obstacle-avoidance problem, as defined in [1], when using artificial potential functions (APF). Differently from [2], our algorithm does not require any knowledge on the location and orientation of the obstacle with respect to the source. Finally, we show via numerical simulations the effectiveness of our algorithm compared with the APF approach.