Enhanced supervisory control system design of an unmanned ground vehicle

Author

Xiongfeng Feng ; Chen, P.C.Y. ; Poo, A.N. ; Guzman, J.I. ; Chan, C.W.

Author_Institution

Fac. of Eng., Nat. Univ. of Singapore

Volume

2

fYear

2004

fDate

10-13 Oct. 2004

Firstpage

1864

Lastpage

1869

Abstract

The supervisory control of unmanned ground vehicles due to their inherent growing complexity has become a very important component. A framework is presented in this paper for the enhanced supervisory control of such systems based on formal approaches of discrete event systems and supervisory control theory. Within this framework, supervisory control of the vehicle is implemented at both behavioral and operational levels for module coordination, vehicle behavior switching, task monitoring and system operation supervision. The applicability of the proposed framework is illustrated by using a simple scenario of open terrain

Keywords

control system synthesis; discrete event systems; mobile robots; remotely operated vehicles; discrete event system; supervisory control system design; system operation supervision; task monitoring; unmanned ground vehicle; vehicle behavior switching; Automotive engineering; Discrete event systems; Land vehicles; Manufacturing; Navigation; Remotely operated vehicles; Robot kinematics; Robotics and automation; Supervisory control; Vehicle safety; Unmanned ground vehicle; discrete event system; finite state; machine; supervisory control;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2004 IEEE International Conference on

Conference_Location

The Hague

ISSN

1062-922X

Print_ISBN

0-7803-8566-7

Type

conf

DOI

10.1109/ICSMC.2004.1399935

Filename

1399935