2015/02/08 by Alexey S. Matveev, Matveev, Alexey S., Michael Hoy +4
Chemistry · Engineering · Mathematics · #93C85 #Advanced Control Systems Optimization #Extremum Seeking Control Systems #FOS: Mathematics #Optimization and Control (math.OC) #math.OC #msc:93C85 #thermodynamics and calorimetric analyses
paper · pdf · doi:10.48550/arxiv.1502.02224
19 pages, 4 figures
arxiv created 2015/02/08 · openalex publication_date 2015/02/08 · arxiv updated 2015/02/10 · openalex created_date 2016/06/24 · openalex updated_date 2026/07/28
We consider a single kinematically controlled robot with a bounded control range. The robot travels in a two-dimensional region supporting an unknown unsteady scalar field. A single sensor provides the field value at the current location of the robot. The paper is concerned with a reactive navigation strategy to drive the robot to the time-varying location where the field attains its spatial maximum, with subsequent keeping the robot close to this location. This strategy is based on a novel paradigm of kinematic control different from conventionally trying to align the velocity vector with the field gradient, does not employ estimation of the entire field gradient or derivative-dependent quantities, like the rate at which the available field reading evolves over time, and is non-demanding with respect to both computation and motion. The paper presents the proofs of the technical facts required to justify convergence of the proposed algorithm.