Environmental feature exploration with a single autonomous vehicle
Mellucci, C; Prathyush, PM; Edwards, C; et al.Challenor, PG
Date: 30 April 2019
Journal
IEEE Transactions on Control Systems Technology
Publisher
Institute of Electrical and Electronics Engineers
Publisher DOI
Abstract
In this paper, a sliding mode based guidance
strategy is proposed for the control of an autonomous vehicle.
The aim of the autonomous vehicle deployment is the study
of unknown environmental spatial features. The proposed
approach allows the solution of both boundary tracking and
source seeking problems with a single autonomous ...
In this paper, a sliding mode based guidance
strategy is proposed for the control of an autonomous vehicle.
The aim of the autonomous vehicle deployment is the study
of unknown environmental spatial features. The proposed
approach allows the solution of both boundary tracking and
source seeking problems with a single autonomous vehicle
capable of sensing the value of the spatial field at its position.
The movement of the vehicle is controlled through the proposed guidance strategy, which is designed on the basis of the
collected measurements without the necessity of pre-planning
or human intervention. Moreover, no a priori knowledge
about the field and its gradient is required. The proposed
strategy is based on the so-called sub-optimal sliding mode
controller. The guidance strategy is demonstrated by computer based simulations and a set of boundary tracking
experimental sea trials. The efficacy of the algorithm to
autonomously steer the C-Enduro surface vehicle to follow
a fixed depth contour in a dynamic coastal region is demonstrated by the results from the trial described in this paper.
Engineering
Faculty of Environment, Science and Economy
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