Constrained fast source seeking using two nonholonomic mobile robots
Document Type
Conference Proceeding
Publication Date
7-28-2016
Abstract
In this paper, we consider the problem of constrained fast source seeking using two nonholonomic wheeled robots with velocity limitations. To achieve maximum converging speed to the source, we propose a dual-module control approach. In the formation control module, we design the angular velocities of the two robots to keep them in a formation. In the source seeking module, a sliding-mode-like control algorithm is developed to generate the bounded linear velocities so that the moving directions of the two robots are aligned with the field gradient direction as quickly as possible. Only the instantaneous measurements of the field but not the gradients are used in the controller design. Compared to existing approaches, our method makes full use of the maximum velocity limitations of the nonholonomic robots to achieve fast overall converging speed using only two robots. Comparative simulation and experimental results are presented, demonstrating the superior performance of the proposed control strategy over the existing ones in terms of the seeking (converging) speed.
Identifier
84992025876 (Scopus)
ISBN
[9781467386821]
Publication Title
Proceedings of the American Control Conference
External Full Text Location
https://doi.org/10.1109/ACC.2016.7526824
ISSN
07431619
First Page
7295
Last Page
7301
Volume
2016-July
Grant
CNS-1446461
Fund Ref
National Science Foundation
Recommended Citation
Lu, Lu; You, Jie; and Wu, Wencen, "Constrained fast source seeking using two nonholonomic mobile robots" (2016). Faculty Publications. 10369.
https://digitalcommons.njit.edu/fac_pubs/10369