完整的
控制理论(社会学)
职位(财务)
标量(数学)
移动机器人
标量场
信号(编程语言)
趋同(经济学)
角速度
数学
计算机科学
物理
机器人
经典力学
人工智能
几何学
经济增长
经济
程序设计语言
控制(管理)
财务
作者
Chunlei Zhang,Dan Arnold,Nima Razavi-Ghods,Antranik Antonio Siranosian,Miroslav Krstić
标识
DOI:10.1016/j.sysconle.2006.10.014
摘要
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.
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