This dissertation demonstrates the autonomous command and navigation of a trained canine to multiple waypoints. A system is described consisting of a canine that can be guided autonomously to a number of waypoints by an automatic software control algorithm. A hardware system has been developed in order to interface with GPS, accelerometers, gyroscopes, magnetometers, and tone and vibration generators for the purpose of accurately commanding and dictating the motion, path, and commands given to a canine. A canine has been trained to effectively follow audio and vibration commands for guidance with a high degree of accuracy (71% mission success for simple paths and 63% mission success for complex paths). Both a Neural Networks approach and a State Machine Based approach to canine anomaly detection are presented, as well as strategies for anomaly correction. An operational control algorithm for autonomous guidance of the canine is described in detail. Finally, 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.
|Advisor:||Bevly, David M., Hamilton, John A., Jr.|
|School Location:||United States -- Alabama|
|Source:||DAI-B 70/12, Dissertation Abstracts International|
|Subjects:||Mechanical engineering, Computer science|
|Keywords:||Autonomous control, Navigation, Neural networks, Search dogs, Trained canine|
Copyright in each Dissertation and Thesis is retained by the author. All Rights Reserved
The supplemental file or files you are about to download were provided to ProQuest by the author as part of a
dissertation or thesis. The supplemental files are provided "AS IS" without warranty. ProQuest is not responsible for the
content, format or impact on the supplemental file(s) on our system. in some cases, the file type may be unknown or
may be a .exe file. We recommend caution as you open such files.
Copyright of the original materials contained in the supplemental file is retained by the author and your access to the
supplemental files is subject to the ProQuest Terms and Conditions of use.
Depending on the size of the file(s) you are downloading, the system may take some time to download them. Please be