发明名称 |
A SYSTEM AND METHOD FOR AUTONOMOUS NAVIGATION OF A TRACKED OR SKID-STEER VEHICLE |
摘要 |
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.
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申请公布号 |
CA2774163(A1) |
申请公布日期 |
2011.03.24 |
申请号 |
CA20102774163 |
申请日期 |
2010.09.15 |
申请人 |
THE UNIVERSITY OF SYDNEY |
发明人 |
HENNESSY, ROSS;OPPOLZER, FLORIAN;FAN, XIUYI;SINGH, SURYA P. N.;DURRANT-WHYTE, HUGH |
分类号 |
G05D1/02;G05D1/08 |
主分类号 |
G05D1/02 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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