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Kinematic Navigation of a Mobile Robot to the Maximizer of an Environmental Field without Derivatives Estimation

Автор(ы):

A. S. Matveev

Professor
Department of Mathematics and Mechanics,
Saint Petersburg State University,
Saint Petersburg, Russia

almat1712@yahoo.com

M. C. Hoy

School of Electrical Engineering and Telecommunications,
the University of New South Wales,
Sydney, NSW, Australia

mch.hoy@gmail.com

A. V. Savkin

School of Electrical Engineering and Telecommunications,
the University of New South Wales,
Sydney, NSW, Australia

a.savkin@unsw.edu.au

Аннотация:

We consider a single kinematically controlled mobile robot traveling in a planar region supporting an unknown field distribution. A single sensor provides the distribution value at the current robot location. We present a novel navigation strategy that drives the robot to the location where the field distribution attains its maximum. 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.

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