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Stochastic Source Seeking for Nonholonomic Vehicles

Part of the Communications and Control Engineering book series (CCE)

Abstract

Steering mobile robots is the first application of extremum seeking in the book. Employing the approach developed for single-input systems, steering is conducted in concentration fields with an unknown spatial distribution, and without position (GPS) measurements available. The vehicle is driven to approach a small neighborhood of the source in a manner that seems partly random, but is provably convergent in a suitable probabilistic sense. The study presented in the chapter offers an interpretation for the chemotaxis motion of bacteria, which are stochastically driven and employ only local concentration measurements and no position measurements.

Keywords

Small Neighborhood Convergence Speed Signal Field Deterministic Case Exponential Convergence 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag London 2012

Authors and Affiliations

  1. 1.Department of MathematicsSoutheast UniversityNanjingPeople’s Republic of China
  2. 2.Department Mechanical & Aerospace EngineeringUniversity of California, San DiegoLa JollaUSA

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