A system for autonomous canine guidance. (1st January 2013)

• Record Type: Journal Article
• Authors: Miller, Jeff; Bevly, David M.
• Is Part Of: International journal of modelling, identification and control. Volume 20:Number 1(2013)
• Page Start: 33
• Page End: 46
• Publication Date: 2013-01-01
• Subjects: cyborg -- bang-bang control -- canine -- unmanned system -- autonomous control -- remote control -- modelling -- identification; Engineering -- Methodology -- Periodicals; Science -- Methodology -- Periodicals; 001.42
• Languages: English
• ISSNs: 1746-6172

Abstract

This paper presents an approach for autonomous guidance of a canine using an embedded command module with vibration and tone generation capabilities and an embedded control suite. The control suite is comprised of a microprocessor, wireless radio, GPS receiver, and an attitude and heading reference system. A canine maximum effort controller was implemented for autonomous control of the canine, which proved to be effective at guiding the canine to multiple waypoints. Results from structured and non-structured environment two waypoint trials indicated a 97.7% success rate. Three waypoint trials resulted in a success rate of 70.1%, and the overall success rate of the control system was found to be 86.6%.