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Intelligent Service Robotics

Erschienen in:

08.06.2023 | Original Research Paper

Development of source seeking algorithm for mobile robots

verfasst von: Humaid Eqab, Yasser Bin Salamah, Irfan Ahmad, M. A. Morsy

Erschienen in: Intelligent Service Robotics | Ausgabe 3/2023

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Abstract

A source-seeking algorithm for mobile robots is a method for the robot to locate and move towards a specific source, such as a light or sound. Developing such algorithms typically involves using sensors, such as cameras or microphones, to detect the source and calculate its location. The algorithm may also incorporate feedback mechanisms to adjust the robot's movement in real time based on changes in the environment or the location of the source. In autonomous vehicles, the problem of seeking the source of a scalar signal as a non-holonomic unicycle is a control problem where the goal is for the vehicle to navigate to the location of the signal's source while maintaining a stable trajectory. In this paper, a control algorithm which was designed to take into account the non-holonomic constraints as well as the noise in the signal of the unicycle model was used to solve this problem and guide the vehicle to the source of the signal while maintaining stability. Additionally, this research suggests a source-seeking algorithm based on Extremum-seeking control (ESC) as an optimization technique to get beyond the limitations listed above. The simulation results show that the stability of the proposed system almost reached 100%.

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Titel: Development of source seeking algorithm for mobile robots
verfasst von: Humaid Eqab
Yasser Bin Salamah
Irfan Ahmad
M. A. Morsy
Publikationsdatum: 08.06.2023
Verlag: Springer Berlin Heidelberg
Erschienen in: Intelligent Service Robotics / Ausgabe 3/2023
Print ISSN: 1861-2776
Elektronische ISSN: 1861-2784
DOI: https://doi.org/10.1007/s11370-023-00470-w

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