Light Source Tracking with Quadrotor by Using Extremum Seeking Control

We perform a quadrotor implementation of extremum seeking control theory which is a non-model based real time optimization method. The theory enables to find the closest minimum or the closest maximum from a starting point in a function without having any foreknowledge about the function. In our experiment, this function refers to Nonlinear Signal Map created by a light source and it decays down from the source. The quadrotor has the ability of measuring the lux value in this signal map by a luminosity sensor. It measures the lux values in a circular line around itself as it is anchored to the floor. By using the measured value, extremum seeking is performed and the quadrotor is steered to the maximum lux value point (the front of the light source) on the circular line where the light sensor can travel on.