公开(公告)号：AU2010295227B2

公开(公告)日：2015-02-05

申请号：AU2010295227

申请日：2010-09-15

Applicant: TECH RESOURCES PTY LTD

Inventor： HENNESSY ROSS ,  OPPOLZER FLORIAN ,  FAN XIUYI ,  SINGH SURYA P N ,  DURRANT-WHYTE HUGH

IPC: G05D1/02 ,  G05D1/08

Abstract: 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.