无需模型的实时寻源控制，让差速机器人更稳更快找到信号源。
Model-Free and Real-Time Unicycle-Based Source Seeking with Differential Wheeled Robotic Experiments
- 基于简单控制律设计，无积分器，结构极简。
- 有效抑制传统方法的振荡，到达源点时可完全停止。
- 适用于真实机器人实验，抗噪声能力强，适合移动源场景。
许多自主机器人用于寻源任务，其控制常基于自行车模型。这不仅适用于模型依赖型控制器，也适用于如极值寻求控制（ESC）这类无需模型的实时控制方法。本文提出一种适用于差速轮式机器人的自行车模型化ESC设计：（1）设计极为简单，仅基于一个控制仿射律，无需状态积分器；（2）可有效抑制已知存在的振荡问题，实现到达源点时完全停止；（3）在无需模型、实时运行条件下，具备环境与传感器噪声容忍能力。通过仿真与真实机器人实验，验证了该方法在固定和移动光源寻源任务中的有效性。结果表明，相比已有文献，本方法显著降低振荡、加快收敛速度，并更优地处理噪声干扰。
原文摘要 · Abstract (English)
Many autonomous robots aimed at source-seeking are studied, and their controls designed, using unicycle modeling and formulation. This is true not only for model-based controllers, but also for model-free, real-time control methods such as extremum seeking control (ESC). In this paper, we propose a unicycle-based ESC design applicable to differential wheeled robots that: (1) is very simple design, based on one simple control-affine law, and without state integrators; (2) attenuates oscillations known to persist in ESC designs (i.e., fully stop at the source); and (3) operates in a model-free, real-time setting, tolerating environmental/sensor noise. We provide simulation and real-world robotic experimental results for fixed and moving light source seeking by a differential wheeled robot using our proposed design. Results indicate clear advantages of our proposed design when compared to the literature, including attenuation of undesired oscillations, improved convergence speed, and better handling of noise.
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