Coordinate-free Isoline Tracking in Unknown 2-D Scalar Fields
Fei Dong,Keyou You,Jian Wang,Fei Dong,Keyou You,Jian Wang
The isoline tracking of this work is concerned with the control design for a sensing robot to track a given isoline of an unknown 2-D scalar filed. To this end, we propose a coordinate-free controller with a simple PI-like form using only the concentration feedback for a Dubins robot, which is particularly useful in GPS-denied environments. The key idea lies in the novel design of a sliding surfac...
