We found a match
Your institution may have rights to this item. Sign in to continue.
- Title
Biomimetic Adaptive Pure Pursuit Control for Robot Path Tracking Inspired by Natural Motion Constraints.
- Authors
Zhao, Suna; Zhao, Guangxin; He, Yan; Diao, Zhihua; He, Zhendong; Cui, Yingxue; Jiang, Liying; Shen, Yongpeng; Cheng, Chao
- Abstract
The essence of biomimetics in human–computer interaction (HCI) is the inspiration derived from natural systems to drive innovations in modern-day technologies. With this in mind, this paper introduces a biomimetic adaptive pure pursuit (A-PP) algorithm tailored for the four-wheel differential drive robot (FWDDR). Drawing inspiration from the intricate natural motions subjected to constraints, the FWDDR's kinematic model mirrors non-holonomic constraints found in biological entities. Recognizing the limitations of traditional pure pursuit (PP) algorithms, which often mimic a static behavioral approach, our proposed A-PP algorithm infuses adaptive techniques observed in nature. Integrated with a quadratic polynomial, this algorithm introduces adaptability in both lateral and longitudinal dimensions. Experimental validations demonstrate that our biomimetically inspired A-PP approach achieves superior path-following accuracy, mirroring the efficiency and fluidity seen in natural organisms.
- Subjects
ROBOT control systems; NONHOLONOMIC constraints; BIOMIMETIC materials; HUMAN-computer interaction; BIOMIMETICS; FOUR-wheel driving; BIOLOGICALLY inspired computing
- Publication
Biomimetics (2313-7673), 2024, Vol 9, Issue 1, p41
- ISSN
2313-7673
- Publication type
Article
- DOI
10.3390/biomimetics9010041