Autonomous Object Planar Movement Control in Investigating Scalar Fields
Y. N. Zolotukhin, K. Y. Kotov, A. A. Nesterov, A. P. Yan
Keywords: autonomous object movement control, scalar fields, search and tracing of isolines, local estimations of field gradient
Pages: 109-115
Abstract
A gradient autonomous object movement control algorithm is proposed. The algorithm ensures search and tracing of a scalar field isoline for a vehicle with one sensor. A substantial limitation is the possibility of obtaining only local gradient estimates at discrete times. The algorithm is based on input of an additional test signal to the control system. This enables the vehicle with one sensor to calculate the total gradient value.
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