Constrained fast source seeking using two nonholonomic mobile robots

Lu Lu, Jie You, Wencen Wu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

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.

Original languageEnglish (US)
Title of host publication2016 American Control Conference, ACC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7295-7301
Number of pages7
ISBN (Electronic)9781467386821
DOIs
StatePublished - Jul 28 2016
Event2016 American Control Conference, ACC 2016 - Boston, United States
Duration: Jul 6 2016Jul 8 2016

Publication series

NameProceedings of the American Control Conference
Volume2016-July
ISSN (Print)0743-1619

Other

Other2016 American Control Conference, ACC 2016
CountryUnited States
CityBoston
Period7/6/167/8/16

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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