Title :
Autonomous vehicle control for scalar field measurements
Author :
Zolotukhin, Y.N. ; Kotov, K.Yu. ; Nesterov, A.A. ; Yan, A.P.
Abstract :
In this paper, we introduce a gradient control algorithm for autonomous vehicle, allowing to detect and track level curves of a scalar field in the plane. The vehicle can consist one sensor that can take only a single measurement at a time. This leads to ability of calculating only local estimates of scalar field gradient. The motion algorithm is based on additional testing signal in control system and provide overall estimate of gradient.
Keywords :
gradient methods; vehicles; autonomous vehicle control; gradient control; motion algorithm; scalar field gradient; scalar field measurements; Automatic control; Control systems; Laser feedback; Mobile robots; Multidimensional systems; Regulators; Remotely operated vehicles; Underwater vehicles; Vehicle detection; Vehicle dynamics;
Conference_Titel :
Electronic Instrument Engineering, 2008. APEIE 2008. 9th International Conference on Actual Problems of
Conference_Location :
Novosibirsk
Print_ISBN :
978-1-4244-2825-0
DOI :
10.1109/APEIE.2008.4897205
