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Coordinate-free Isoline Tracking in Unknown 2-D Scalar Fields

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Document pages: 6 pages

Abstract: The isoline tracking of this work is concerned with the control design for asensing robot to track a given isoline of an unknown 2-D scalar filed. To thisend, we propose a coordinate-free controller with a simple PI-like form usingonly the concentration feedback for a Dubins robot, which is particularlyuseful in GPS-denied environments. The key idea lies in the novel design of asliding surface based error term in the standard PI controller. Interestingly,we also prove that the tracking error can be reduced by increasing theproportion gain, and is eliminated for circular fields with a non-zero integralgain. The effectiveness of our controller is validated via simulations by usinga fixed-wing UAV on the real dataset of the concentration distribution of PM2.5 in Handan, China.

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