The isoline tracking in unknown scalar fields with concentration feedback

The isoline tracking of this work is concerned with the control design for a sensing vehicle to track desired an unknown scalar field. To end, we propose simple proportional integral (PI)-like controller Dubins in GPS-denied environment. Inspired by sliding mode method, our key idea lies error term standard PI controller. For circular field, show that P-like can globally regulate where steady-state be arbitrarily reduced increasing P gain and eliminated PI-like Moreover, shown achieve local regulation smooth fields. Finally, effectiveness advantages approach are validated via both simulations experiments differential steering vehicle.