NDLI: Source seeking with a nonholonomic unicycle without position measurements and with tuning of angular velocity part I: Stability analysis

Content Provider	IEEE Xplore Digital Library
Author	Cochran, J. Krstic, M.
Copyright Year	2007
Abstract	We consider the problem of seeking the source of a scalar signal using an autonomous vehicle modeled as the nonholonomic unicycle. The vehicle does not have the capability of sensing its position or the position of the source but is capable of sensing the scalar signal originating from the source. The signal field is assumed to decay away from the position of the source but the vehicle does not have the knowledge of the functional form of the field. We employ extremum seeking to steer the vehicle to the source. Our control strategy keeps the forward velocity at a constant value and tunes the angular velocity, a setting suitable for most autonomous vehicles, including aerial ones. Because of the constant forward velocity constraint, after it has converged near the source, the vehicle exhibits extremely interesting and complex motions. Using averaging theory, we prove local exponential convergence to an "orbit-like" attractor around the source. We also present a thorough analysis of non-local behaviors and attractors that the vehicle can exhibit near the source.
Starting Page	6009
Ending Page	6016
File Size	1475238
Page Count	8
File Format	PDF
ISBN	9781424414970
ISSN	01912216
DOI	10.1109/CDC.2007.4434872
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-12-12
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Position measurement Angular velocity Stability analysis Remotely operated vehicles Angular velocity control Mobile robots Convergence Motion control Space vehicles Vehicle driving
Content Type	Text
Resource Type	Article

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