NDLI: Extremum seeking for motion optimization: From bacteria to nonholonomic vehicles

Content Provider	IEEE Xplore Digital Library
Author	Krstic, M. Cochran, J.
Copyright Year	2008
Abstract	What do E. coli bacteria and GPS-denied unmanned vehicles have in common? In the absence of position and attitude measurements, both bacteria and autonomous vehicles have to rely on solving real-time optimization problems based on other available signal measurements, such as concentration of chemical agents, thermal or light intensity, or other environmental signals such as acoustic or electomagnetic. We overview extremum seeking, a method for non-model based optimization that we have been developing over the last ten years, and its applications to autonomous vehicles. The use of extremum seeking for navigating vehicles in GPS-denied environments is a rather challenging technical problem because the nonholonomically constrained vehicle kinematics violate the standard assumptions of exponential stability of the plant in the classical theory of extremum seeking. We review applications to nonholonomic vehicles in both two and three dimensions.
Starting Page	18
Ending Page	27
File Size	1438058
Page Count	10
File Format	PDF
ISBN	9781424417339
DOI	10.1109/CCDC.2008.4597264
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-07-02
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Shape Level set Three dimensional displays Angular velocity Distance measurement Trajectory Vehicles
Content Type	Text
Resource Type	Article

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