| Autor: |
Suna Zhao, Guangxin Zhao, Yan He, Zhihua Diao, Zhendong He, Yingxue Cui, Liying Jiang, Yongpeng Shen, Chao Cheng |
| Jazyk: |
angličtina |
| Rok vydání: |
2024 |
| Předmět: |
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| Zdroj: |
Biomimetics, Vol 9, Iss 1, p 41 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
2313-7673 |
| DOI: |
10.3390/biomimetics9010041 |
| Popis: |
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. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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