Biologically motivated motion control strategy for non-holonomic mobile robot

In this paper, we propose a simple and robust motion control strategy for non-holonomic mobile robot. The proposed control strategy is biologically motivated in the sense that it mimics the motion control strategies employed by many bugs and insects in nature. The proposed strategy is conceptually simple, inherently stable, and offer satisfactory performance for many practical applications. Furthermore, it overcomes many of the shortcomings (such as lack of provisions for handling actuator dead-band nonlinearity) that exist in traditional motion control strategies in the literature. The effectiveness of the proposed control strategy is verified through computer simulation and real-world implementation on a actual robotic platform.