Navigation of a non-holonomic vehicle for gradient climbing and source seeking without gradient estimation

Abstract

We consider a single Dubins-like mobile vehicle traveling with a constant longitudinal speed in a planar region supporting an unknown field distribution. A single sensor provides the distribution value at the current vehicle location. We present a new sliding mode navigation strategy that drives the vehicle to the location where the field distribution attains its maximum. The proposed control algorithm does not employ gradient estimation and is non-demanding with respect to both computation and motion. Its mathematically rigorous analysis and justification are provided. Simulation results confirm the applicability and performance of the proposed guidance approach.