A Strategy for Source-Seeking applied for Inspection of Belt Conveyor Rollers

Abstract

In this paper, a sliding mode control using a periodic search function strategy is used to drive a robot to the origin of a stationary sound source in an industrial inspection scenario. The robotic system is composed of a mobile base equipped with a manipulator arm. A extremum- seeking controller is designed to drive the cartesian position of the manipulator to the maximum of an unknown field that represents the source of the sound emitted by a damaged roller of a belt conveyor idler. Simulation results considering the kinematic model of the robot ROSI are presented with satisfactory results.