VTechWorks staff will be away for the Thanksgiving holiday beginning at noon on Wednesday, November 27, through Friday, November 29. We will resume normal operations on Monday, December 2. Thank you for your patience.
 

Bioinspired Tracking Control of High Speed Nonholonomic Ground Vehicles

Simple item page
dc.contributor.authorShoemaker, Adamen
dc.contributor.authorLeonessa, Alexanderen
dc.contributor.departmentMechanical Engineeringen
dc.date.accessioned2017-09-18T09:40:21Zen
dc.date.available2017-09-18T09:40:21Zen
dc.date.issued2015-10-04en
dc.date.updated2017-09-18T09:40:21Zen
dc.description.abstractThe 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.en
dc.description.versionPublished versionen
dc.format.mimetypeapplication/pdfen
dc.identifier.citationAdam Shoemaker and Alexander Leonessa, “Bioinspired Tracking Control of High Speed Nonholonomic Ground Vehicles,” Journal of Robotics, vol. 2015, Article ID 919073, 15 pages, 2015. doi:10.1155/2015/919073en
dc.identifier.doihttps://doi.org/10.1155/2015/919073en
dc.identifier.urihttp://hdl.handle.net/10919/78952en
dc.language.isoenen
dc.publisherHindawien
dc.rightsCreative Commons Attribution 4.0 Internationalen
dc.rights.holderCopyright © 2015 Adam Shoemaker and Alexander Leonessa. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.en
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/en
dc.titleBioinspired Tracking Control of High Speed Nonholonomic Ground Vehiclesen
dc.title.serialJournal of Roboticsen
dc.typeArticle - Refereeden
dc.type.dcmitypeTexten

Files

Original bundle
Now showing 1 - 2 of 2
Name:
JR.2015.919073.xml
Size:
5.67 KB
Format:
Extensible Markup Language
Download
Thumbnail Image
Name:
JR.2015.919073.pdf
Size:
2 MB
Format:
Adobe Portable Document Format
Download
License bundle
Now showing 1 - 1 of 1
Name:
license.txt
Size:
1.5 KB
Format:
Item-specific license agreed upon to submission
Description:
Download

Collections

Journal Articles, Hindawi Press
Destination Area: Intelligent Infrastructure for Human-Centered Communities (IIHCC)
Open Access Subvention Fund Articles
Scholarly Works, Mechanical Engineering