Source Seeking Control of Unicycle Robots with 3D-printed Flexible Piezoresistive Sensors

Autor:	Li, Tinghua, Jayawardhana, Bayu, Kamat, Amar, Kottapalli, Ajay Giri Prakash
Rok vydání:	2021
Předmět:	Computer Science - Robotics Electrical Engineering and Systems Science - Systems and Control
Druh dokumentu:	Working Paper
DOI:	10.1109/TRO.2021.3076964
Popis:	We present the design and experimental validation of source seeking control algorithms for a unicycle mobile robot that is equipped with novel 3D-printed flexible graphene-based piezoresistive airflow sensors. Based solely on a local gradient measurement from the airflow sensors, we propose and analyze a projected gradient ascent algorithm to solve the source seeking problem. In the case of partial sensor failure, we propose a combination of Extremum-Seeking Control with our projected gradient ascent algorithm. For both control laws, we prove the asymptotic convergence of the robot to the source. Numerical simulations were performed to validate the algorithms and experimental validations are presented to demonstrate the efficacy of the proposed methods. Comment: Published in IEEE Transactions on Robotics
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2104.14267 Zobrazit plný text záznamu View this record from Arxiv