NDLI: Sensor-based tracking of environmental level sets by a unicycle-like mobile robot

Content Provider	IEEE Xplore Digital Library
Author	Matveev, A.S. Teimoori, H. Savkin, A.V.
Copyright Year	2010
Description	Author affiliation: School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney, 2052, Australia (Teimoori, H.; Savkin, A.V.) \|\| Department of Mathematics and Mechanics, Saint Petersburg University, Universitetskii 28, Petrodvoretz, 198504, Russia (Matveev, A.S.)
Abstract	We consider a single Dubins-like mobile robot traveling with a constant longitudinal speed in a planar region supporting an unknown field distribution. A single sensor provides the distribution value at the current vehicle location. We present a new sliding mode control method for tracking environmental level sets: the controller drives the vehicle to the set where the distribution assumes a pre-specified value and ensures that the vehicle circulates along this set afterwards. The proposed control algorithm does not employ gradient estimation and is non-demanding with respect to both computation and motion. Its mathematically rigorous analysis and justification are provided. The effectiveness of the proposed guidance law is confirmed by illustrative examples and computer simulations.
Starting Page	2984
Ending Page	2988
File Size	5926512
Page Count	5
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509459
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Level set Mobile robots Sliding mode control Vehicle driving Vehicles Drives Motion control Motion estimation Navigation Computer simulation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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