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Sensor-Based Control Architecture for a Car-Like Vehicle

Christian Laugier 1 Thierry Fraichard Philippe Garnier Igor Paromtchik Alexis Scheuer
1 SHARP - Automatic Programming and Decisional Systems in Robotics
GRAVIR - IMAG - Laboratoire d'informatique GRAphique, VIsion et Robotique de Grenoble, Inria Grenoble - Rhône-Alpes
Abstract : This report presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control architectures for autonomous robot systems, it combines three functional components: a set of basic real-time skills, a reactive execution mechanism and a decision module. The main novelty of the architecture proposed lies in the introduction of a fourth component akin to a meta-level of skills: the sensor-based manoeuvres, ie general templates that encode high-level expert human knowledge and heuristics about how a specific motion task is to be performed. The concept of sensor-based manoeuvres permit to reduce the planning effort required to address a given motion task, thus improving the overall response-time of the system, while retaining the good properties of a skill-based architectu- re, ie robustness, flexibility and reactivity. The report focuses on the trajectory planning function (which is an important part of the decision module) and two types of sensor-based manoeuvres, trajectory following and parallel parking, that have been implemented and successfully tested on a real automatic car-like vehicle placed in different situations.
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Submitted on : Wednesday, May 24, 2006 - 11:57:03 AM
Last modification on : Friday, February 4, 2022 - 3:24:04 AM
Long-term archiving on: : Sunday, April 4, 2010 - 9:17:08 PM


  • HAL Id : inria-00073131, version 1



Christian Laugier, Thierry Fraichard, Philippe Garnier, Igor Paromtchik, Alexis Scheuer. Sensor-Based Control Architecture for a Car-Like Vehicle. RR-3552, INRIA. 1998. ⟨inria-00073131⟩



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