Source seeking with a nonholonomic unicycle without position measurements and with tuning of angular velocity — Part II: Applications

For Part I see ibid. (2007). We present results for autonomous vehicles operating in GPS-denied environments while performing several different tasks. These vehicles employ extensions of extremum seeking to accomplish their goals. Previously, extremum seeking has successfully been applied to vehicles seeking the source of some signal, while operating in such environments. This paper considers the objectives of tracking a diffusive signal, tracing a level set of a signal field, and modification of the algorithm for use on a vehicle with limited movement capabilities. We present each scenario, detail each control scheme and, in addition, present simulation results.