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Nonlinear control for reactive navigation of a nonholonomic robot for environmental nongradient‐based extremum seeking in maze‐like scenes
Author(s) -
Matveev Alexey S.,
Ovchinnikov Kirill S.,
Savkin Andrey V.
Publication year - 2017
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3831
Subject(s) - control theory (sociology) , workspace , mobile robot , robot , nonlinear system , nonholonomic system , computation , scalar field , computer science , convergence (economics) , obstacle , planar , scalar (mathematics) , mathematics , control (management) , artificial intelligence , algorithm , law , physics , computer graphics (images) , quantum mechanics , political science , economics , mathematical physics , economic growth , geometry
Summary A single Dubins car‐like mobile robot travels with a constant speed in a planar workspace cluttered with arbitrarily complex obstacles, possibly maze‐like ones. An unknown scalar field is defined on the plane. The sensors supply the robot with the field value at its current location and its distance to the nearest obstacle. We present a new control law that drives the robot to the location where the field attains its maximum, while avoiding collisions with the obstacles. This is justified by a mathematically rigorous global convergence result and is confirmed via computer simulations. The proposed algorithm does not use gradient estimation and is nondemanding with respect to computation and motion. Copyright © 2017 John Wiley & Sons, Ltd.