1995-09-01

Development of a Control System for Autonomous Land Vehicles 952150

An autonomous control system for land vehicles was developed. The control system consists of two major core systems, the Mission Planning and Control Unit (MPCU) and Piloting System Unit (PSU) and a number of subsystems, including the Positioning Unit (PU).The system architecture is modular and it employs a virtual vehicle abstraction to give the system to a degree of vehicle-independency. The development and testing of the system have been carried out using a 1.5 ton tracked vehicle with a hydrostatic powertrain as a test platform.Real-Time Kinematic GPS positioning coupled with fiber-optic gyros have been used to achieve the high positioning accuracy needed in the system. Extended Kalman Filters have been used to achieve data fusion, and cubic B-splines have been used for trajectory generation.The system has performed well in autonomous tests; navigation accuracy of ± 5 cm has been consistently achieved.Further development work will concentrate on system refinements, reliability in less than ideal conditions, and systems integration.

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