Bioinspired Tracking Control of High Speed Nonholonomic Ground Vehicles

The behavior of nature’s predators is considered for designing a high speed tracking controller for nonholonomic vehicles, whose dynamicsare represented using a unicycle model. To ensure that the vehicle behaves intuitively and mimics the biologically inspiredpredator-prey interaction, saturation co...

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Bibliographic Details
Published in:Journal of robotics 2015-01, Vol.2015 (2015), p.1-15
Main Authors: Shoemaker, Adam, Leonessa, Alexander
Format: Article
Language:English
Subjects:
Algorithms
Controllers
Grounds
High speed
Saturation
Tracking
Trajectories
Vehicles
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Summary:The behavior of nature’s predators is considered for designing a high speed tracking controller for nonholonomic vehicles, whose dynamicsare represented using a unicycle model. To ensure that the vehicle behaves intuitively and mimics the biologically inspiredpredator-prey interaction, saturation constraints based on Ackermann steering kinematics are added. A new strategy for mapping commandsback into a viable envelope is introduced, and the restrictions are accounted for using Lyapunov stability criteria. Followingverification of the saturation constraints, the proposed algorithm was implemented on a testing platform. Stable trajectories of up to 9 m/swere achieved. The results presented show that the algorithm demonstrates significant promise in high speed trajectory tracking withobstacle avoidance.
ISSN:1687-9600
1687-9619
DOI:10.1155/2015/919073