DocumentCode :
3583623
Title :
Reactive navigation of a mobile robot to the moving extremum of a dynamic unknown environmental field without derivative estimation
Author :
Matveev, A.S. ; Hoy, Michael C. ; Savkin, Andrey V.
Author_Institution :
Dept. of Math. & Mech., St. Petersburg Univ., St. Petersburg, Russia
fYear :
2013
Firstpage :
4371
Lastpage :
4376
Abstract :
We consider a single kinematically controlled mobile robot traveling in a planar region supporting an unknown and unsteady field distribution. A single sensor provides the distribution value at the current robot location. We present a reactive navigation strategy that drives the robot to the time-varying location where the field distribution attains its spatial maximum and then keeps the robot in the pre-specified vicinity of the maximizer. The proposed control algorithm employs estimation of neither the entire field gradient nor derivative-dependent quantities, like the rate at which the available measurement evolves over time, and is non-demanding with respect to both computation and motion. Its mathematically rigorous analysis and justification are provided. Simulation results confirm the applicability and performance of the proposed guidance approach.
Keywords :
mobile robots; motion control; position control; dynamic unknown environmental field; field distribution; guidance approach; moving extremum; planar region; prespecified maximizer vicinity; reactive navigation strategy; robot location; single kinematically controlled mobile robot; time-varying location; unsteady field distribution; Control systems; Estimation; Navigation; Robot kinematics; Robot sensing systems; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (ECC), 2013 European
Type :
conf
Filename :
6669343
Link To Document :
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