Abstract
This paper presents an extremum seeking control (ESC) scheme for mobile robots with nonholonomic constraints. Many sensors, such cameras, have a limited field of view. If a target function is based on these sensors, correct robot orientation is critical for maximizing the target function. Our approach is novel in that it will maximize a target function that is a function of robot position and orientation, while overcoming the nonholonomic constraints that prevent simple motion along the gradient of all degrees of freedom. Stability analysis proves our ESC scheme is well behaved and the robot will settle in the neighborhood of a maximum of the target function. Simulation and experiment results elucidate performance for different tasks.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.