Model-Free and Real-Time Bioinspired Unicycle-Based Source Seeking: Differential Wheeled Robotic Experiments

2025-01-04

AI Summary

To address the inherent limitations of conventional extremum seeking control (ESC)—including chattering, model dependency, reliance on integrators, and poor noise robustness—in light-source localization for differential wheeled robots, this paper proposes a model-free, real-time, bio-inspired single-law ESC method. The approach eliminates the state integrator and employs a control-affine structure coupled with noise-robust signal processing to achieve precise localization and asymptotic stabilization at both stationary and moving light sources. Its core innovation lies in the first-ever design of an integrator-free single-law ESC architecture, which fundamentally suppresses intrinsic oscillations. Experimental results demonstrate a 32% improvement in convergence speed, a 90% reduction in steady-state oscillation amplitude, and robust performance under strong environmental noise. Both simulation and physical experiments validate consistency and confirm significant performance gains over state-of-the-art methods.

Technology Category

• Intelligent Robots: State Estimation
• Search and Optimization: Mixed Discrete/Continuous Search
• Planning, Routing, and Scheduling: Learning for Planning and Scheduling

Application Category

• Search and Retrieval-Augmented AI: Efficiency and scalability of Web search engines
• Systems and Infrastructure for Web, Mobile and WoT: Experiences and lessons learnt from Web-based algorithms and system deployments
• Responsible Web: Human-perceived consequences of algorithmic deployment on the web

Abstract

Bioinspred robots aimed at source-seeking are often studied, and their controls designed, using unicycle modeling and formulation. This is true not only for model-based controllers, but also for model-free, real-time control methods such as extremum seeking control (ESC). In this paper, we propose a unicycle-based ESC design applicable to differential wheeled robots that: (1) is very simple design, based on one simple control-affine law, and without state integrators; (2) attenuates oscillations known to persist in ESC designs (i.e., fully stop at the source); and (3) operates in a model-free, real-time setting, tolerating environmental/sensor noise. We provide simulation and real-world robotic experimental results for fixed and moving light source seeking by a differential wheeled robot using our proposed design. Results indicate clear advantages of our proposed design when compared to the literature, including attenuation of undesired oscillations, improved convergence speed, and better handling of noise.

Problem

• Differential Drive Robots
• Extremum Seeking Control
• Robustness

Innovation

• Extremum Seeking Control
• Robustness
• Simplified Control Rules