Biologically inspired tracking control of mobile robots with bounded accelerations

@article{Yang2004BiologicallyIT,
  title={Biologically inspired tracking control of mobile robots with bounded accelerations},
  author={Simon X. Yang and Anmin Zhu and Max Q.-H. Meng},
  journal={IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004},
  year={2004},
  volume={2},
  pages={1610-1615 Vol.2}
}
In this paper, a novel biologically inspired tracking controller is proposed for real-time navigation of nonholonomic mobile robots, which is inspired by the agonist/antagonist effects in muscular sensory motor reaction of a gated dipole neural model. Through the incorporation of the biological computation element, the proposed controller is capable of generating smooth, bounded acceleration command signals for the mobile robot to track reference paths. It resolves the velocity jump problem in… CONTINUE READING