KANSAS CITY, Mo. -- Prosecutors filed criminal charges Friday against a woman who police said led them on a pursuit while naked and with her children in her vehicle.

They charged Khaihilah L. Woodson, 24, of Kansas City, with two counts of endangering the welfare of a child, resisting or interfering with arrest, driving while intoxicated and operating a motor vehicle while her license was revoked.

The incident began when police got a call that a woman was running around naked at an apartment complex near East 12th Street and Woodland Avenue, they said.

While officers were racing to the scene, witnesses said the naked woman put two children in a car and drove away.

At times traveling at very high speeds, the woman allegedly ran red lights, forced other cars off the road and almost hit a police officer who was putting out spike strips, police said.

The chase ended near Red Bridge and Holmes roads when the second spike strip she hit forced her to a stop. When they took her into custody, officers could "smell the odor of PCP emanating from the driver, and she appeared to be under the influence of something," according to court documents.

Her two boys, ages 6 and 8, were in the back seat, unrestrained and "visibly shaking from fear," according to court documents.

Seeing the boys in the car led to officers' decision to chase the mother, police said.

Kansas City, Mo., Police Department Capt. Donna Greenwell said, "It's always a tough decision when we decide to chase, because we always have to take innocent bystanders into account. But when you have two innocent kids in a car and somebody that's high on narcotics, we look out for the welfare of those children."

Woodson was convicted of DWI last year for a 2006 incident in Platte County, Mo., according to court documents.

Charges are still pending against her for a April 2007 wreck, according to court documents.

Police found her passed out behind the wheel of a vehicle that had hit a parked vehicle. Her children were in the vehicle with her, and officers "detected an odor of PCP" emanating from Woodson, according to court documents.