Robust Source-Seeking Hybrid Controllers for Autonomous Vehicles

We consider the problem of steering an autonomous vehicle to locate a radiation source utilizing measurements of the radiation intensity only. We propose a control algorithm that locates the source through a sequence of line minimizations of the radiation intensity. We implement in a hybrid controll...

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Bibliographic Details
Main Authors: Mayhew, C.G., Sanfelice, R.G., Teel, A.R.
Format: Conference Proceeding
Language:English
Subjects:
Control systems
Convergence
Minimization methods
Mobile robots
Position measurement
Remotely operated vehicles
Robust control
Sea measurements
Stability
Temperature sensors
Online Access:Request full text
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Description
Summary:We consider the problem of steering an autonomous vehicle to locate a radiation source utilizing measurements of the radiation intensity only. We propose a control algorithm that locates the source through a sequence of line minimizations of the radiation intensity. We implement in a hybrid controller, with sample-and-hold and logic variables, a discretized version of the algorithm suitable for steering a point-mass vehicle. The algorithm confers global convergence and practical stability properties to the closed-loop hybrid system. We discuss these properties and characterize the region of convergence for the vehicle. Convergence and stability results are supplemented with simulations.
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2007.4283016