Paper Info
Title
Kinematic navigation of a nonholonomic robot for 3D environmental extremum seeking without gradient estimation
Abstract
We consider a single nonholonomic underactuated robot with a bounded control range. The robot travels in a three-dimensional region supporting an unknown field distribution. A single sensor provides the distribution value at the current robot location. We present a new navigation strategy that drives the robot to the location where the field distribution attains its maximum. This strategy is based on a novel paradigm of kinematic control different from conventionally trying to align the velocity vector with the field gradient. The proposed algorithm does not employ estimation of the field gradient 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.
Year
DOI
Venue
2013
10.1109/CDC.2013.6760436
Decision and Control
Keywords
Field
DocType
mathematical analysis,mobile robots,navigation,path planning,robot kinematics,sensors,3D environmental extremum seeking,bounded control range,guidance approach,kinematic navigation strategy,mathematical rigorous analysis,single nonholonomic underactuated robot,single sensor,three-dimensional region,unknown field distribution,velocity vector
Motion planning,Robot control,Robot calibration,Inverse kinematics,Control theory,Computer science,Robot kinematics,Control engineering,Nonholonomic system,Cartesian coordinate robot,Mobile robot
Conference
ISSN
ISBN
Citations 
0743-1546
978-1-4673-5714-2
0
PageRank 
References 
Authors
0.34
8
3
Name
Order
Citations
PageRank
Alexey S. Matveev153442.49
Michael Hoy2816.43
Andrey V. Savkin38518.09