Table of Contents Author Guidelines Submit a Manuscript
Journal of Robotics
Volume 2015 (2015), Article ID 919073, 15 pages
http://dx.doi.org/10.1155/2015/919073
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.

Linked References

  1. K. Chu, M. Lee, and M. Sunwoo, “Local path planning for off-road autonomous driving with avoidance of static obstacles,” IEEE Transactions on Intelligent Transportation Systems, vol. 13, no. 4, pp. 1599–1616, 2012. View at Publisher · View at Google Scholar · View at Scopus
  2. S. Moon, U. Lee, and D. H. Shim, “Study on real-time obstacle avoidance for unmanned ground vehicles,” in Proceedings of the International Conference on Control, Automation and Systems (ICCAS '10), pp. 1332–1335, October 2010. View at Scopus
  3. D. Fu-guang, J. Peng, B. Xin-qian, and W. Hong-jian, “AUV local path planning based on virtual potential field,” in Proceedings of the IEEE International Conference on Mechatronics and Automation (ICMA '05), vol. 4, pp. 1711–1716, August 2005. View at Scopus
  4. R. Daily and D. M. Bevly, “Harmonic potential field path planning for high speed vehicles,” in Proceedings of the American Control Conference, pp. 4609–4614, June 2008. View at Publisher · View at Google Scholar · View at Scopus
  5. P. Zhao, J. Chen, T. Mei, and H. Liang, “Dynamic motion planning for autonomous vehicle in unknown environments,” in Proceedings of the IEEE Intelligent Vehicles Symposium (IV '11), pp. 284–289, Baden-Baden, Germany, June 2011. View at Publisher · View at Google Scholar · View at Scopus
  6. S. Glaser, B. Vanholme, S. Mammar, D. Gruyer, and L. Nouvelière, “Maneuver-based trajectory planning for highly autonomous vehicles on real road with traffic and driver interaction,” IEEE Transactions on Intelligent Transportation Systems, vol. 11, no. 3, pp. 589–606, 2010. View at Publisher · View at Google Scholar · View at Scopus
  7. M. Häselich, N. Handzhiyski, C. Winkens, and D. Paulus, “Spline templates for fast path planning in unstructured environments,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), pp. 3545–3550, IEEE, San Francisco, Calif, USA, September 2011. View at Publisher · View at Google Scholar · View at Scopus
  8. C. Fulgenzi, A. Spalanzani, and C. Laugier, “Dynamic obstacle avoidance in uncertain environment combining PVOs and occupancy grid,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '07), pp. 1610–1616, April 2007. View at Publisher · View at Google Scholar · View at Scopus
  9. A. Richardson and E. Olson, “Iterative path optimization for practical robot planning,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), pp. 3881–3886, September 2011. View at Publisher · View at Google Scholar · View at Scopus
  10. P. Bhattacharya and M. L. Gavrilova, “Voronoi diagram in optimal path planning,” in Proceedings of the 4th International Symposium on Voronoi Diagrams in Science and Engineering (ISVD '07), pp. 38–47, July 2007. View at Publisher · View at Google Scholar · View at Scopus
  11. K. P. Valavanis, T. Hebert, R. Kolluru, and N. Tsourveloudis, “Mobile robot navigation in 2-D dynamic environments using an electrostatic potential field,” IEEE Transactions on Systems, Man, and Cybernetics Part A:Systems and Humans., vol. 30, no. 2, pp. 187–196, 2000. View at Publisher · View at Google Scholar · View at Scopus
  12. M. Park and M. Lee, “Experimental evaluation of robot path planning by artificial potential field approach with simulated annealing,” in Proceedings of the 41st SICE Annual Conferenceerence, vol. 4, pp. 2190–2195, Osaka, Japan, August 2002. View at Publisher · View at Google Scholar
  13. X. Hu, “Clonal selection based mobile robot path planning,” in Proceedings of the IEEE International Conference on Automation and Logistics (ICAL '08), pp. 437–442, September 2008. View at Publisher · View at Google Scholar · View at Scopus
  14. A. M. Wilson, J. C. Lowe, K. Roskilly, P. E. Hudson, K. A. Golabek, and J. W. Mc-Nutt, “Locomotion dynamics of hunting in wild cheetahs,” Nature, vol. 498, no. 7453, pp. 185–189, 2013. View at Publisher · View at Google Scholar · View at Scopus
  15. R. Fierro and F. L. Lewis, “Control of a nonholonomic mobile robot: backstepping kinematics into dynamics,” Journal of Robotic Systems, vol. 14, no. 3, pp. 149–163, 1997. View at Publisher · View at Google Scholar · View at Scopus
  16. D. DeVon and T. Bretl, “Kinematic and dynamic control of a wheeled mobile robot,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ’07), pp. 4065–4070, San Diego, Calif, USA, November 2007. View at Publisher · View at Google Scholar · View at Scopus
  17. K. Pathak and S. K. Agrawal, “Planning and control of a nonholonomic unicycle using ring shaped local potential fields,” in Proceedings of the American Control Conference (AAC '04), pp. 2368–2373, July 2004. View at Scopus
  18. Q. Wang and Y.-P. Tian, “Formation control of multiple nonholonomic unicycles using adaptive perturbation method,” in Proceedings of the 51st IEEE Conference on Decision and Control (CDC '12), pp. 2453–2458, December 2012. View at Publisher · View at Google Scholar · View at Scopus
  19. L. C. Figueiredo and F. G. Jota, “Nonholonomic systems stabilization and tracking control using discontinuous control,” in Proceedings of the IEEE Conference on Automation Science and Engineering (CASE '05), pp. 142–147, August 2005. View at Publisher · View at Google Scholar · View at Scopus
  20. M. Aicardi, G. Casalino, A. Bicchi, and A. Balestrino, “Closed loop steering of unicycle like vehicles via Lyapunov techniques,” IEEE Robotics & Automation Magazine, vol. 2, no. 1, pp. 27–35, 1995. View at Publisher · View at Google Scholar · View at Scopus
  21. R. Carona, A. P. Aguiar, and J. Gaspar, “Control of unicycle type robots,” in IV Jornadas de Engenharia Electronica e Telecomunicacoes e de Computadores, pp. 180–185, November 2008.
  22. V. Medina-Garciadiego and A. Leonessa, “Tracking control of a nonholonomic ground vehicle,” in Proceedings of the American Control Conference (ACC '11), pp. 1710–1713, IEEE, San Francisco, Calif, USA, June-July 2011. View at Publisher · View at Google Scholar
  23. J. Borenstein and Y. Koren, “High-speed obstacle avoidance for mobile robots,” in Proceedings of the 3rd International Symposium on Intelligent Control, pp. 382–384, August 1988. View at Scopus
  24. J. Borenstein and Y. Koren, “Real-time obstacle avoidance for fast mobile robots,” IEEE Transactions on Systems, Man and Cybernetics, vol. 19, no. 5, pp. 1179–1187, 1989. View at Publisher · View at Google Scholar · View at Scopus
  25. Y. Koren and J. Borenstein, “Potential field methods and their inherent limitations for mobile robot navigation,” in Proceedings of the IEEE Conference on Robotics and Automation, pp. 1398–1404, April 1991.