We propose a novel 3D source seeking algorithm
for rigid bodies with a non-collocated sensor inspired by the
chemotactic navigation strategy of sea urchin sperm known as
helical klinotaxis. We work directly with the rotation group
SO(3) without parameterization in representing the attitude of
a rigid body. As a consequence, the proposed algorithm does
not require attitude feedback for implementation as opposed
to all previous work on 3D source seeking. The stability of the
proposed algorithm is proven using an intricate combination of
singular perturbation and second order averaging.
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« less
Singularly Perturbed Averaging with Application to Bio-Inspired 3D Source Seeking
We propose a novel 3D source seeking algorithm
for rigid bodies with a non-collocated sensor inspired by the
chemotactic navigation strategy of sea urchin sperm known as
helical klinotaxis. We work directly with the rotation group
SO(3) without parameterization in representing the attitude of
a rigid body. As a consequence, the proposed algorithm does
not require attitude feedback for implementation as opposed
to all previous work on 3D source seeking. The stability of the
proposed algorithm is proven using an intricate combination of
singular perturbation and second order averaging.
more »
« less
- Award ID(s):
- 1846308
- PAR ID:
- 10524959
- Publisher / Repository:
- IEEE
- Date Published:
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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