Abstract
In the literature review section of Chap. 2, it was mentioned that Berg and Brown derived a model of the bacteria chemotactic foraging behaviour based upon data obtained from experiments involving bacteria. The model obtained was a best fit curve on the experimental data. In this chapter, an investigation into how this model can be converted into a spatiotemporal source seeking controller for use on a robotic platform is conducted. As mechanisms used by biological organisms cannot sometimes be adopted directly, some modifications were introduced during the development of the model-derived controller in order to achieve this goal. The developed controller has parameters that make it possible to adjust the agent’s spatial exploitation process, environmental exploration and sensitivity to spatial readings.
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Oyekan, J.O. (2016). Developing and Implementing a Source Finding Controller. In: Tracking and Mapping of Spatiotemporal Quantities Using Unicellular Swarm Intelligence. Biosystems & Biorobotics, vol 14. Springer, Cham. https://doi.org/10.1007/978-3-319-27425-6_4
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DOI: https://doi.org/10.1007/978-3-319-27425-6_4
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