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.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Robust source-seeking hybrid controllers for autonomous vehicles


    Contributors:
    Mayhew, C.G. (author) / Sanfelice, R.G. (author) / Teel, A.R. (author)

    Published in:

    Publication date :

    2007


    Size :

    6 Seiten, 17 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Adaptive Testing of Controllers for Autonomous Vehicles

    A. C. Schultz / J. J. Grefenstette / K. A. DeJong | NTIS | 1992


    Comparison of trajectory tracking controllers for autonomous vehicles

    Calzolari, Davide / Schurmann, Bastian / Althoff, Matthias | IEEE | 2017


    Verified hybrid controllers for automated vehicles

    Lygeros, J. / Godbole, D.N. / Sastry, S. | Tema Archive | 1998


    Distributed Source Seeking and Robust Obstacle Avoidance Through Hybrid Gradient Descent

    Mohr, Hannah / Schroeder, Kevin / Black, Jonathan | IEEE | 2019


    Implementation of Nonlinear Reconfigurable Controllers for Autonomous Unmanned Vehicles

    Schmitz, D. / Janardhan, V. / Balakrishnan, S. N. et al. | British Library Conference Proceedings | 2005