The isoline tracking in unknown scalar fields with concentration feedback
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Publication:2065161
DOI10.1016/J.AUTOMATICA.2021.109779zbMATH Open1480.93137arXiv2007.07733OpenAlexW3178448877MaRDI QIDQ2065161FDOQ2065161
Publication date: 7 January 2022
Published in: Automatica (Search for Journal in Brave)
Abstract: The isoline tracking of this work is concerned with the control design for a sensing vehicle to track a desired isoline of an unknown scalar field. To this end, we propose a simple PI-like controller for a Dubins vehicle in the GPS-denied environments. Our key idea lies in the design of a novel sliding surface based error in the standard PI controller. For the circular field, we show that the P-like controller can globally regulate the vehicle to the desired isoline with the steady-state error that can be arbitrarily reduced by increasing the P gain, and is eliminated by the PI-like controller. For any smoothing field, the P-like controller is able to achieve the local regulation. Then, it is extended to the cases of a single-integrator vehicle and a doubleintegrator vehicle, respectively. Finally, the effectiveness and advantages of our approaches are validated via simulations on the fixed-wing UAV and quadrotor simulators.
Full work available at URL: https://arxiv.org/abs/2007.07733
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Cited In (4)
- Coordinate-free control for the isoline tracking of an unknown scalar field
- Tracking environmental isoclines using polygonal formations of submersible autonomous vehicles
- Radial basis function-based vector field algorithm for wildfire boundary tracking with UAVs
- Method for tracking of environmental level sets by a unicycle-like vehicle
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