Hierarchical position control of expedition robots

Position control of expedition robots are considered. The robots are controlled to follow pre-determined paths via fixed way-points. The speed and heading are controlled to follow reference values calculated from the next way point and current position. Hybrid control is used for speed loop and heading loop, respectively. Depending on the parameter change of speed and heading model due to unexpected situation such as fault or road condition, an appropriate controller is selected by transition management. For speed loop, PID control, adaptive PI control, and neural network are used. For direction, PID control, adaptive PID control are used. Transition management selects an appropriate controller after the parameter estimation.