Bioinspired Tracking Control of High Speed Nonholonomic Ground Vehicles

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td align="left"> </td><td align="center">Potential Field Parameters</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td align="left"> </td><td align="center"><span style="width: 42.7329ptpx;"><svg height="11.9087pt" id="M265" style="vertical-align:-3.2728pt" version="1.1" viewbox="-0.0498162 -8.6359 42.7329 11.9087" width="42.7329pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M584 650H137L131 622C214 614 217 612 200 521L125 127C109 41 101 35 23 28L17 0H288L294 28C201 35 193 42 209 128L242 309H348C440 309 442 300 443 226H471L510 422H482C452 354 449 348 357 348H251L295 575C302 609 304 615 338 615H426C502 615 517 604 526 581C534 560 536 524 537 492L565 494C574 554 583 631 584 650Z" id="g113-71"></path><glyph.data ascent="3473" descent="-2876" 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id="g121-46"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="480" vert-adv-y="480"></glyph.data></g></svg></span></td></tr><tr><td align="left"> </td><td align="center"><span style="width: 35.7297ptpx;"><svg height="11.9087pt" id="M266" style="vertical-align:-3.2728pt" version="1.1" viewbox="-0.0498162 -8.6359 35.7297 11.9087" width="35.7297pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M584 650H137L131 622C214 614 217 612 200 521L125 127C109 41 101 35 23 28L17 0H288L294 28C201 35 193 42 209 128L242 309H348C440 309 442 300 443 226H471L510 422H482C452 354 449 348 357 348H251L295 575C302 609 304 615 338 615H426C502 615 517 604 526 581C534 560 536 524 537 492L565 494C574 554 583 631 584 650Z" id="g113-71"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="607" vert-adv-y="607"></glyph.data></g><g transform="matrix(.0091,0,0,-0.0091,6.786,3.132)"><path d="M181 342V451C133 431 89 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descent="-2876" horiz-adv-x="587" vert-adv-y="587"></glyph.data></g><g transform="matrix(.013,0,0,-0.013,29.313,0)"><path d="M249 635C141 635 70 555 70 471C70 401 114 353 179 316C143 294 106 267 90 252C68 231 45 202 45 157C45 50 130 -12 237 -12C322 -12 435 52 435 169C435 256 372 304 303 343C349 374 375 398 383 407C401 429 411 458 411 487C411 569 344 635 249 635ZM238 603C285 603 337 567 337 482C337 422 310 385 276 358C205 393 145 426 145 500C145 552 179 603 238 603ZM248 20C183 20 125 70 125 163C125 218 158 268 206 300C284 261 355 217 355 143C355 66 308 20 248 20Z" id="g121-54"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="480" vert-adv-y="480"></glyph.data></g></svg></span></td></tr><tr><td align="left"> </td><td align="center"><span style="width: 33.9959ptpx;"><svg height="8.8423pt" id="M267" style="vertical-align:-0.2064009pt" version="1.1" viewbox="-0.0498162 -8.6359 33.9959 8.8423" width="33.9959pt" xmlns="http://www.w3.org/2000/svg" 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140Z" id="g121-48"></path><glyph.data ascent="989" descent="-360" horiz-adv-x="480" vert-adv-y="480"></glyph.data></g></svg></span></td></tr><tr><td align="left"> </td><td align="center"><span style="width: 37.0753ptpx;"><svg height="8.63352pt" id="M268" style="vertical-align:-0.2455397pt" version="1.1" viewbox="-0.0498162 -8.38798 37.0753 8.63352" width="37.0753pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M495 86L479 114C446 82 419 66 409 66C401 66 401 72 406 97C420 166 436 231 453 297C489 435 454 448 428 448C406 448 384 439 354 422C305 394 222 327 161 247H159L183 345C200 415 194 448 173 448C143 448 82 410 23 351L38 325C64 349 95 371 105 371C111 371 116 365 109 336L25 -4L31 -12C50 -4 77 3 107 9C119 69 132 122 145 168C197 254 321 381 370 381C387 381 393 374 378 305L329 95C309 17 320 -12 345 -12C372 -12 430 19 495 86Z" id="g113-111"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="502" 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Potential field tuning constants for experiments.

Journal of Robotics

tab3

Table 3

Table 3: Bioinspired Tracking Control of High Speed Nonholonomic Ground Vehicles 