Title :
Toward a path co-processor for automated vehicle control
Author :
Grupen, Roderic A. ; Connolly, Chris I. ; Souccar, Kamal X. ; Burleson, Wayne P.
Author_Institution :
Dept. of Comput. Sci., Massachusetts Univ., Amherst, MA, USA
Abstract :
The paper describes an embedded controller as the basis for high performance navigation tasks. The approach solves Laplace´s equation on a discrete grid representing the roadway map. The resulting harmonic potential is free of local minima and a greedy descent minimizes the probability of collision with posted obstacles. In this paper, the authors (1) introduce the important properties of harmonic potential functions for vehicle control applications, (2) describe a numerical procedure to compute harmonic functions on a grid, (3) express nonholonomic constraints as connectivity in the grid, (4) formulate an energy-referenced control scheme to manage vehicle dynamics, and (5) provide estimates for the performance on a four processor DSP architecture
Keywords :
digital signal processing chips; mobile robots; motion control; navigation; path planning; probability; road vehicles; Laplace´s equation; automated vehicle control; connectivity; embedded controller; energy-referenced control; four processor DSP architecture; harmonic potential; high performance navigation tasks; nonholonomic constraints; numerical procedure; path co-processor; roadway map; vehicle dynamics management; Automatic control; Computer architecture; Coprocessors; Digital signal processing; Energy management; Grid computing; Laplace equations; Navigation; Road accidents; Vehicle dynamics;
Conference_Titel :
Intelligent Vehicles '95 Symposium., Proceedings of the
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-2983-X
DOI :
10.1109/IVS.1995.528276
