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 dynamics are represented using a unicycle model. To ensure that the vehicle behaves intuitively and mimics the biologically inspired predator-prey interaction, saturation...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2015-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2015/919073 |
| Summary: | The behavior of nature’s predators is considered for designing a high speed tracking controller for nonholonomic vehicles, whose dynamics
are represented using a unicycle model. To ensure that the vehicle behaves intuitively and mimics the biologically inspired
predator-prey interaction, saturation constraints based on Ackermann steering kinematics are added. A new strategy for mapping commands
back into a viable envelope is introduced, and the restrictions are accounted for using Lyapunov stability criteria. Following
verification of the saturation constraints, the proposed algorithm was implemented on a testing platform. Stable trajectories of up to 9 m/s
were achieved. The results presented show that the algorithm demonstrates significant promise in high speed trajectory tracking with
obstacle avoidance. |
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| ISSN: | 1687-9600 1687-9619 |