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.


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    Titel :

    Robust source-seeking hybrid controllers for autonomous vehicles


    Beteiligte:
    Mayhew, C.G. (Autor:in) / Sanfelice, R.G. (Autor:in) / Teel, A.R. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2007


    Format / Umfang :

    6 Seiten, 17 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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