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Bioinspired Tracking Control of High Speed Nonholonomic Ground Vehicles
Joint Authors
Shoemaker, Adam
Leonessa, Alexander
Source
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-10-04
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Shoemaker, Adam& Leonessa, Alexander. 2015. Bioinspired Tracking Control of High Speed Nonholonomic Ground Vehicles. Journal of Robotics،Vol. 2015, no. 2015, pp.1-15.
https://search.emarefa.net/detail/BIM-1070042
Modern Language Association (MLA)
Shoemaker, Adam& Leonessa, Alexander. Bioinspired Tracking Control of High Speed Nonholonomic Ground Vehicles. Journal of Robotics No. 2015 (2015), pp.1-15.
https://search.emarefa.net/detail/BIM-1070042
American Medical Association (AMA)
Shoemaker, Adam& Leonessa, Alexander. Bioinspired Tracking Control of High Speed Nonholonomic Ground Vehicles. Journal of Robotics. 2015. Vol. 2015, no. 2015, pp.1-15.
https://search.emarefa.net/detail/BIM-1070042
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1070042