Hierarchical finite state machines for autonomous mobile systems

被引：54
作者：
Kurt, Arda [1 ]
Oezguener, Uemit [1 ]
机构：
[1] Ohio State Univ, Elect & Comp Engn Dept, Columbus, OH 43210 USA
来源：
CONTROL ENGINEERING PRACTICE | 2013年 / 21卷 / 02期
基金：
美国国家科学基金会;
关键词：
Autonomous vehicles; Hybrid-state systems; Hierarchical systems; Urban scenarios; Cyber-physical systems;
D O I：
10.1016/j.conengprac.2012.09.020
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes a system architecture, related design approaches for autonomous mobile systems and guidelines for self-sufficient autonomy. Development of a tiered layout for a hybrid-state control in a series of stages as well as the integration of such a controller in the overall autonomy structure are proposed and demonstrated as part of multiple examples, including The Ohio State University participation in DARPA Urban Challenge 2007. The hierarchical layout and the iterative design methodology enable a certain level of design flexibility for the overall system and preparation for various contingencies, as illustrated on specific development cycles. (C) 2012 Elsevier Ltd. All rights reserved.
引用
收藏
页码：184 / 194
页数：11
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