论文标题
未知的2D标量字段中的无坐标分离线跟踪
Coordinate-free Isoline Tracking in Unknown 2-D Scalar Fields
论文作者
论文摘要
这项工作的孤立跟踪与传感机器人的控制设计有关，以跟踪提交的未知二维标量的给定分离线。为此，我们仅使用Dubins机器人的浓度反馈，提出一个具有简单PI样形式的无坐标控制器，该机器人在GPS贬低的环境中特别有用。关键思想在于标准PI控制器中基于滑动表面的误差项的新颖设计。有趣的是，我们还证明，可以通过增加比例增益来减少跟踪误差，并且对于具有非零积分增益的循环场被消除。通过模拟，通过在中国Handan的PM 2.5的真实数据集上使用固定翼无人机来验证我们的控制器的有效性。
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 surface based error term in the standard PI controller. Interestingly, we also prove that the tracking error can be reduced by increasing the proportion gain, and is eliminated for circular fields with a non-zero integral gain. The effectiveness of our controller is validated via simulations by using a fixed-wing UAV on the real dataset of the concentration distribution of PM 2.5 in Handan, China.
