Bioinspired Tracking Control of High Speed Nonholonomic Ground Vehicles. (4th October 2015)

• Record Type: Journal Article
• Authors: Shoemaker, Adam; Leonessa, Alexander
• Other Names: Habib Maki K. Academic Editor.
• Is Part Of: Journal of robotics. Volume 2015(2015)
• Publication Date: 2015-10-04
• Subjects: Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1155/2015/919073
• Languages: English
• ISSNs: 1687-9600

Abstract

Abstract : 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.