DocumentCode :
2575857
Title :
Nonholonomic source seeking in switching random fields
Author :
Azuma, Shun-ichi ; Sakar, Mahmut Selman ; Pappas, George J.
Author_Institution :
Grad. Sch. of Inf., Kyoto Univ., Kyoto, Japan
fYear :
2010
fDate :
15-17 Dec. 2010
Firstpage :
6337
Lastpage :
6342
Abstract :
We consider the problem of designing controllers for nonholonomic mobile robots converging to the source (minimum) of a field. In addition to the mobility constraints posed by the nonholonomic dynamics, we assume that the field is completely unknown to the robot and the robot has no knowledge of its own position. Furthermore, the field is randomly switching. In this paper, we combine ideas from stochastic approximations and nonholonomic control, in order to address this challenging problem. In particular, we develop a rotation-invariant and forward-sided version of the simultaneous-perturbation stochastic algorithm, which is much more suitable for sensor-free navigation. Based on this algorithm, we design source seeking controllers for nonholonomic robots and prove convergence to the unknown source with probability 1. The proposed controllers are demonstrated by numerical simulations.
Keywords :
control system synthesis; mobile robots; probability; stochastic processes; controllers design; forward-sided version; mobile robots; nonholonomic source seeking; perturbation stochastic algorithm; probability; rotation-invariant; sensor free navigation; stochastic approximations; switching random fields; Algorithm design and analysis; Approximation algorithms; Approximation methods; Robot kinematics; Robot sensing systems; Trajectory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location :
Atlanta, GA
ISSN :
0743-1546
Print_ISBN :
978-1-4244-7745-6
Type :
conf
DOI :
10.1109/CDC.2010.5717650
Filename :
5717650
Link To Document :
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