Sensor - Based Control Architecture for a Car - Like VehicleC
نویسنده
چکیده
| This paper presents a novel control architecture for a car-like vehicle moving in a dynamic and partially known environment. The key idea is to plan and carry out sensor-based manoeuvres. The paper focuses on the reactive part of the architecture that features control experts, i.e. parameterized control programs adapted to a speciic manoeuvre and capable to react in real-time to unforeseen events. Experimental results obtained with an automatic car are presented for two types of manoeuvres: lane following/changing and parallel parking.Inrets c Praxit ele programme on urban public transport 1994-1997], and the Inco-Copernicus ERB-IC15-CT96-0702 project \Multi-agent robot systems for industrial applications in the transport domain" 1997-1999]. Abstract This paper presents a novel control architecture for a car-like vehicle moving in a dynamic and partially known environment. The key idea is to plan and carry out sensor-based manoeuvres. The paper focuses on the reactive part of the architecture that features control experts, i.e. parameterized control programs adapted to a speciic manoeuvre and capable to react in real-time to unforeseen events. Experimental results obtained with an automatic car are presented for two types of manoeuvres: lane following/changing and parallel parking.
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Sensor-based control architecture for a car-like vehicle
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