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

Abstract

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.