Nonholonomic source seeking in switching random fields
Nonholonomic source seeking in switching random fields
复制标题
切换随机场中的非完整源搜索
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
George Pappas
中科院分区：
文献类型：
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作者：
S. Azuma;M. Sakar;George Pappas
我们考虑的问题，设计控制器的非完整移动的机器人收敛到源（最小值）的领域。除了由非完整动力学的流动性约束，我们假设该领域是完全未知的机器人和机器人没有自己的位置的知识。此外，场是随机切换的。在本文中，我们结合联合收割机的想法，从随机逼近和非完整控制，以解决这个具有挑战性的问题。特别是，我们开发了一个旋转不变的和向前的版本的扰动随机算法，这是更适合于无传感器导航。基于该算法，我们设计了非完整机器人的源搜索控制器，并证明了以概率1收敛到未知源。所提出的控制器的数值仿真证明。
We consider the problem of designing controllers for nonholonomic mobile robots converging to the source (minimum) of a field. In addition to the mobility constraints posed by the nonholonomic dynamics, we assume that the field is completely unknown to the robot and the robot has no knowledge of its own position. Furthermore, the field is randomly switching. In this paper, we combine ideas from stochastic approximations and nonholonomic control, in order to address this challenging problem. In particular, we develop a rotation-invariant and forward-sided version of the simultaneous-perturbation stochastic algorithm, which is much more suitable for sensor-free navigation. Based on this algorithm, we design source seeking controllers for nonholonomic robots and prove convergence to the unknown source with probability 1. The proposed controllers are demonstrated by numerical simulations.