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Journal of Robotics
Volume 2015 (2015), Article ID 919073, 15 pages
Research Article

Bioinspired Tracking Control of High Speed Nonholonomic Ground Vehicles

Center for Dynamic Systems Modeling and Control, Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USA

Received 5 January 2015; Revised 19 May 2015; Accepted 24 June 2015

Academic Editor: Maki K. Habib

Copyright © 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.


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.