A heuristic rule-based switching and adaptive PID controller for a large autonomous tracked vehicle: From development to implementation

Gong, Z; Guzman, JI; Scheding, SJ; Rye, DC; Dissanayake, G; Durrant-Whyte, H

A heuristic rule-based switching and adaptive PID controller for a large autonomous tracked vehicle: From development to implementation

Gong, Z Guzman, JI Scheding, SJ Rye, DC Dissanayake, G

Durrant-Whyte, H

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Publication Type:: Conference Proceeding
Citation:: Proceedings of the IEEE International Conference on Control Applications, 2004, 2 pp. 1272 - 1277
Issue Date:: 2004-12-01

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Field	Value	Language
dc.contributor.author	Gong, Z	en_US
dc.contributor.author	Guzman, JI	en_US
dc.contributor.author	Scheding, SJ	en_US
dc.contributor.author	Rye, DC	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.contributor.author	Durrant-Whyte, H	en_US
dc.date.issued	2004-12-01	en_US
dc.identifier.citation	Proceedings of the IEEE International Conference on Control Applications, 2004, 2 pp. 1272 - 1277	en_US
dc.identifier.uri	http://hdl.handle.net/10453/12021
dc.description.abstract	An innovative and effective algorithm to control the speed and heading of a large tracked vehicle is presented. This is part of a larger control system that converts a manual driving vehicle into a computer controlled platform to perform autonomous functions in unstructured jungle-like terrains. Heuristic rule-based switching and adaptive FID control methods are used in this algorithm. The control system has been physically implemented and extensive field trials proved that the algorithm is robust and effective with excellent performance under various terrain conditions. ©2004 IEEE.	en_US
dc.relation.ispartof	Proceedings of the IEEE International Conference on Control Applications	en_US
dc.title	A heuristic rule-based switching and adaptive PID controller for a large autonomous tracked vehicle: From development to implementation	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2	en_US
utslib.for	1006 Computer Hardware	en_US
dc.location.activity	Taipei,Taiwan	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US
pubs.volume	2	en_US

Abstract:

An innovative and effective algorithm to control the speed and heading of a large tracked vehicle is presented. This is part of a larger control system that converts a manual driving vehicle into a computer controlled platform to perform autonomous functions in unstructured jungle-like terrains. Heuristic rule-based switching and adaptive FID control methods are used in this algorithm. The control system has been physically implemented and extensive field trials proved that the algorithm is robust and effective with excellent performance under various terrain conditions. ©2004 IEEE.

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http://hdl.handle.net/10453/12021