Robust source-seeking hybrid controllers for nonholonomic vehicles (experiment)

submitted by: mayhew

This video shows an experiment involving a mobile robot, an IR-camera vision system, and a wireless network. The robot queries the vision system for position information. The robot uses this position information to simulate a potential function in its environment. The hybrid controller uses these measurements in a coordination of vehicle steering and an optimization algorithm to drive the vehicle to the minimum of the function (shown as a blue 'x').