We present the design and experimental validation of source seeking control algorithms for a unicycle mobile robot that is equipped with novel 3D-printed flexible graphene-based piezoresistive airflow sensors. Based solely on a local gradient measurement from the airflow sensors, we propose and analyze a projected gradient ascent algorithm to solve the source seeking problem. In the case of partial sensor failure, we propose a combination of Extremum-Seeking Control with our projected gradient ascent algorithm. For both control laws, we prove the asymptotic convergence of the robot to the source. Numerical simulations were performed to validate the algorithms and experimental validations are presented to demonstrate the efficacy of the proposed methods.

中文翻译：

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具有3D打印的柔性压阻传感器的Unicycle机器人的源寻求控制

我们介绍了配备新型3D打印的基于柔性石墨烯的压阻气流传感器的单轮移动机器人的寻源控制算法的设计和实验验证。仅基于气流传感器的局部梯度测量，我们提出并分析了投影梯度上升算法，以解决寻源问题。在部分传感器故障的情况下，我们建议将极值搜索控制与我们的投影梯度上升算法结合起来。对于这两个控制定律，我们证明了机器人到源的渐近收敛性。进行了数值模拟，以验证算法，并进行了实验验证，以证明所提出方法的有效性。