Gradient ESC Light Extremum Seeking with a BnF Rotation Spin Profile

Описание: This experiment features a TurtleBot3 vehicle utilizing a Gradient-based extremum seeking controller (GESC) for autonomous navigation towards a light source in its environment. A photoresistor sensor is attached to a rotating sensor frame atop the vehicle and is used to detect changes in the spatial variation of the light intensity in the vehicle's local environment. The rotating sensor frame is spun back and forth in a 180 degree arc ahead of the seeker independent of the motion of the TurtleBot3 vehicle itself. The seeker starts facing away from the source (initial heading=-135 degrees based on [1]).


Experimental Parameters:
Washout Filter Parameter = 1.0;
Forward Velocity Gain = 1e-7;
Angular Velocity Gain = 5e-7;
Forward Velocity Constraint = 0.1 m/s
Angular Velocity Constraint = 0.5 rad/s
Servo Rotation Speed = 20 RPM;
Rotating Frame Arm Length 18 cm;

[1] James-Kavanaugh, Dylan, et al. "Servos for Local Map Exploration Onboard Nonholonomic Vehicles for Extremum Seeking." arXiv preprint arXiv:2509.16365 (2025).