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 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. © 2015 adam shoemaker and alexander leonessa.