Sensor-based control architecture for a car-like vehicle

被引：0

作者：

Laugier, C ^{[1
]}

Fraichard, T ^{[1
]}

Paromtchik, IE ^{[1
]}

Garnier, P ^{[1
]}

机构：

[1] Inria Rhone Alpes & Gravir, F-38330 Montbonnot St Martin, France

来源：

1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3: INNOVATIONS IN THEORY, PRACTICE AND APPLICATIONS | 1998年

关键词：

D O I：

暂无

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 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 oat 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 specific 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.

引用

页码：216 / 222

页数：7

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