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- W3100651315 abstract "We consider a three-dimensional problem of steering a nonholonomic vehicle to seek an unknown source of a spatially distributed signal field without any position measurement. In the literature, there exists an extremum seeking-based strategy under a constant forward velocity and tunable pitch and yaw velocities. Obviously, the vehicle with a constant forward velocity may exhibit certain overshoots in the seeking process and can not slow down even it approaches the source. To resolve this undesired behavior, this paper proposes a regulation strategy for the forward velocity along with the pitch and yaw velocities. Under such a strategy, the vehicle slows down near the source and stays within a small area as if it comes to a full stop, and controllers for angular velocities become succinct. We prove the local exponential convergence via the averaging technique. Finally, the theoretical results are illustrated with simulations." @default.
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- W3100651315 date "2015-01-01" @default.
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- W3100651315 title "3-D Velocity Regulation for Nonholonomic Source Seeking Without Position Measurement" @default.
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- W3100651315 doi "https://doi.org/10.1109/tcst.2015.2452232" @default.
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