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Development of source seeking algorithm for mobile robots

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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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Funding

The research was funded by King Saud University through Researchers Supporting Project number (RSP2023R270), King Saud University, Riyadh, Saudi Arabia.

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Authors and Affiliations

  1. Department of Electrical Engineering, King Saud University, Ar. Riyadh, 11421, Saudi Arabia

    Humaid Eqab, Yasser Bin Salamah & Irfan Ahmad

  2. Department of Electrical Engineering, Shaqra University, Ar. Riyadh, 11911, Saudi Arabia

    M. A. Morsy

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  1. Humaid Eqab
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  2. Yasser Bin Salamah
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  3. Irfan Ahmad
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  4. M. A. Morsy
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Eqab, H., Salamah, Y.B., Ahmad, I. et al. Development of source seeking algorithm for mobile robots. Intel Serv Robotics 16, 393–401 (2023). https://doi.org/10.1007/s11370-023-00470-w

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