This work demonstrates the autonomous command of a trained search canine to multiple waypoints using a novel state machine control algorithm. A hardware system is utilized in order to interface with the Global Position Satellite (GPS) system and with a tone and vibration generator for the purpose of accurately navigating and commanding the canine. An operational control algorithm for autonomous guidance of the canine is described in detail. Empirical results of an autonomously commanded canine are demonstrated with an 73% mission success rate for simple paths and a 62% mission success rate for complex paths. This work demonstrates a novel way to expand the capabilities of canines in a wide variety of missions, including search and detection.
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ASME 2010 Dynamic Systems and Control Conference
September 12–15, 2010
Cambridge, Massachusetts, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4417-5
PROCEEDINGS PAPER
A State Machine Controller for the Autonomous Guidance of a Trained Canine
William Lyles,
William Lyles
Auburn University, Auburn, AL
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David M. Bevly
David M. Bevly
Auburn University, Auburn, AL
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Winard Britt
Auburn University, Auburn, AL
William Lyles
Auburn University, Auburn, AL
David M. Bevly
Auburn University, Auburn, AL
Paper No:
DSCC2010-4020, pp. 825-833; 9 pages
Published Online:
January 25, 2011
Citation
Britt, W, Lyles, W, & Bevly, DM. "A State Machine Controller for the Autonomous Guidance of a Trained Canine." Proceedings of the ASME 2010 Dynamic Systems and Control Conference. ASME 2010 Dynamic Systems and Control Conference, Volume 1. Cambridge, Massachusetts, USA. September 12–15, 2010. pp. 825-833. ASME. https://doi.org/10.1115/DSCC2010-4020
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