A State Machine Controller for the Autonomous Guidance of a Trained Canine

Abstract

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.

A System for Tracking an Autonomously Controlled Canine

“…Canines can execute the low-level decision making necessary for rerouting its local path to avoid obstacles or unfavourable terrain. Auburn University recently proved that autonomous control of canines can be done as well (Britt, 2009; Miller, 2010). In order to effectively track the autonomous canine and guide it to desired waypoints, a robust outdoor navigation system was developed that would allow tracking even during brief Global Positioning System (GPS) outages.…”