A simple neural dynamics based tracking controller for a mobile robot
Yanrong Hu, Simon X. Yang, Yihui Yang · 2003
In this paper, a simple, yet efficient, neural dynamics based tracking controller for a mobile robot is proposed. The robot velocity in the proposed model is characterized by a biologically inspired shunting equation derived from Hodgkin and Huxley's membrane equation. This model is capable of generating smooth, continuous velocity commands to track arbitrary discrete paths that can be obtained from a real-time path planner. The effectiveness of the proposed controller is demonstrated by simulation studies.