A Design Pattern for Autonomous Vehicle Software Control Architectures
نویسنده
چکیده
Design patterns represent a generalized approach to solving a related set of problems. Typically, a design pattern does not provide reusable code. Instead it provides a common vocabulary and a generalized approach in an application-independent manner. We have developed a design pattern for use in controlling autonomous vehicles. The control of individual components within an autonomous vehicle will obviously differ from one vehicle to another. However, all of the components and subsystems must work together as a whole, This overall control is carried out by a Software Control Architecture, and includes concepts from artificial intelligence, computer vision, vehicle navigation, and graph theory. The Strategic-Tactical-Execution Software Control Architecture (STESCA) was developed to serve as a design pattern for autonomous vehicle control systems. The STESCA approach is currendy being used to control both an autonomous underwater vehicle and a landbased wheeled autonomous vehicle in simulation.
منابع مشابه
Design of Robust Finite-Time Nonlinear Controllers for a 6-DOF Autonomous Underwater Vehicle for Path Tracking Objective
In this paper, kinematic and dynamic equations of a 6-DOF (Degrees Of Freedom) autonomous underwater vehicle (6-DOF AUV) are introduced and described completely. By developing the nonsingular terminal sliding mode control method, three separate groups of control inputs are proposed for the autonomous underwater vehicle subjected to uncertainties including parametric uncertainties, unmodeled dyn...
متن کاملSoftware and Control Architecture Development of an Autonomous Vehicle
This paper presents the design and development of the software and control architecture of the Centaur, an autonomous amphibious and all-terrain utility vehicle project. The adaptation of a hybrid between planning and behaviour based control architectures for the vehicle is explained using decomposition methods. This paper will show how subsystems relate and operate with each other to accomplis...
متن کاملModeling and Intelligent Control System Design for Overtaking Maneuver in Autonomous Vehicles
The purpose of this study is to design an intelligent control system to guide the overtaking maneuver with a higher performance than the existing systems. Unlike the existing models which consider constant values for some of the effective variables of this behavior, in this paper, a neural network model is designed based on the real overtaking data using instantaneous values for variables. A fu...
متن کاملA functional reference architecture for autonomous driving
Context As autonomous driving technology matures towards series production, it is necessary to take a deeper look at various aspects of electrical/electronic (E/E) architectures for autonomous driving. Objective This paper describes a functional reference architecture for autonomous driving, along with various considerations that influence such an architecture. The functionality is described at...
متن کاملOPTIMIZED FUZZY CONTROL DESIGN OF AN AUTONOMOUS UNDERWATER VEHICLE
In this study, the roll, yaw and depth fuzzy control of an Au- tonomous Underwater Vehicle (AUV) are addressed. Yaw and roll angles are regulated only using their errors and rates, but due to the complexity of depth dynamic channel, additional pitch rate quantity is used to improve the depth loop performance. The discussed AUV has four aps at the rear of the vehicle as actuators. Two rule bases...
متن کامل