Title :
Sensor-based control architecture for a car-like vehicle
Author :
Laugier, C. ; Fraichard, Th ; Paromtchik, I.E. ; Garnier, Ph.
Author_Institution :
INRIA Rhone-Alpes & Gravir, Montbonnot Saint Martin, France
Abstract :
Presents a control architecture for a car-like vehicle moving in a dynamic and partially known environment. The key idea is to plan and carry out 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
Keywords :
electric vehicles; mobile robots; motion control; path planning; car-like vehicle; control experts; dynamic partially known environment; lane following/changing; parallel parking; parameterized control programs; sensor-based control architecture; sensor-based manoeuvres; Acceleration; Axles; Equations; Kinematics; Motion control; Portable media players; Trajectory; Vehicle dynamics; Velocity control; Wheels;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.724622
