Authors: Jeff Miller; David M. Bevly
Addresses: Department of Mechanical Engineering, Auburn University, Auburn, AL 36849, USA ' Department of Mechanical Engineering, Auburn University, Auburn, AL 36849, USA
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%.
Keywords: cyborg; bang-bang control; canine guidance; autonomous guidance; unmanned systems; autonomous control; remote control; modelling; vibration; tone generation; embedded control; dogs.
International Journal of Modelling, Identification and Control, 2013 Vol.20 No.1, pp.33 - 46
Received: 08 May 2021
Accepted: 12 May 2021
Published online: 12 Aug 2013 *