Stochastic source seeking for nonholonomic unicycle

@article{Liu2010StochasticSS,
  title={Stochastic source seeking for nonholonomic unicycle},
  author={Shu-Jun Liu and Miroslav Krstic},
  journal={Automatica},
  year={2010},
  volume={46},
  pages={1443-1453}
}
We apply the recently introduced method of stochastic extremum seeking to navigate a nonholonomic unicycle towards the maximum of an unknown, spatially distributed signal field, using only the measurement of the signal at the vehicle’s location butwithout themeasurement of the vehicle’s position. Keeping the forward velocity constant and controlling only the angular velocity, we design a stochastic source seeking control lawwhich employs excitation based on filteredwhite noise, rather than… CONTINUE READING
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