Bio-Inspired Nonholonomic Tracking Control

Abstract

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 behavior closely resembles that of a predator, saturation constraints are added and accounted for using Lyapunov stability criterion. Following verification and comparison of the saturation constraints, the proposed algorithm is implemented on a testing platform. Based on the results presented, we believe the algorithm shows significant promise in high speed control and obstacle avoidance.