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

Publication Type:
Conference Proceeding
IEEE Conference on Control Applications - International Symposium on Intelligent Control Computer Aided Control Systems Design, 2004, 2 pp. 1272 - 1277
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An innovative and effective algorithm to control the speed and heading of B large tracked vehicle is presented. This is part of a larger control system that converts a manual driving vehicle into B computer controlled platform to perform autonomous functions in unshmehlred junglelike terrains Heuristic rule-based switching and adaptive PID eontrol methods m e 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.
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