A System and Method for Autonomous Navigation of a Tracked Or Skid-steer Vehicle
An autonomous navigation system for a tracked or skid-steer vehicle is described. The system includes a path planner (54) that computes a series of waypoint locations specifying a path to follow and vehicle location sensors (82). A tramming controller (60) includes a waypoint controller (62) that computes vehicle speed and yaw rate setpoints based on vehicle location information from the vehicle location sensor and the locations of a plurality of neighbouring waypoints, and a rate controller (64) that generates left and right track speed setpoints from the speed and yaw rate setpoints. A vehicle control interface actuates the vehicle controls in accordance with the left and right track speed setpoints.
HENNESSY ROSS [AU]; OPPOLZER FLORIAN [AU]; FAN XIUYI [AU]; SINGH SURYA P N [AU]; DURRANT-WHYTE HUGH [AU]
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