Sensor-Based Control Architecture for a Car-Like Vehicle

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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Rapport
RR-3552, INRIA. 1998
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Dernière modification le : jeudi 11 janvier 2018 - 06:20:04
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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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