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

An innovative and effective algorithm to control the speed and heading of a large tracked vehicle is presented. This is a part of a larger control system that converts a manual driving vehicle into a computer controlled platform to perform autonomous functions in unstructured jungle-like terrains. Heuristic rule-based switching and adaptive PID control methods are 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.