کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
753097 895493 2007 8 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Source seeking with non-holonomic unicycle without position measurement and with tuning of forward velocity
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Source seeking with non-holonomic unicycle without position measurement and with tuning of forward velocity
چکیده انگلیسی

We consider the problem of seeking the source of a scalar signal using an autonomous vehicle modeled as the non-holonomic unicycle and equipped with a sensor of that scalar signal but not possessing the capability to sense either the position of the source nor its own position. We assume that the signal field is the strongest at the source and decays away from it. The functional form of the field is not available to our vehicle. We employ extremum seeking to estimate the gradient of the field in real time and steer the vehicle towards the point where the gradient is zero (the maximum of the field, i.e., the location of the source). We employ periodic forward–backward movement of the unicycle (implementable with mobile robots and some underwater vehicles but not with aircraft), where the forward velocity has a tunable bias term, which is appropriately combined with extremum seeking to produce a net effect of “drifting” towards the source. In addition to simulation results we present a local convergence proof via averaging, which exhibits a delicate periodic structure with two sinusoids of different frequencies—one related to the angular velocity of the unicycle and the other related to the probing frequency of extremum seeking.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Systems & Control Letters - Volume 56, Issue 3, March 2007, Pages 245–252
نویسندگان
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