Research of hybrid control architecture of active terrain adaptive vehicle

Hybrid control architecture of active terrain adaptive vehicle based on subsumption architecture is proposed, which regard global and local planning as behavior, and processed synchronously with over-obstacle behavior. The acting field and priority of each behavior are defined with the range of internal and external sensors. Performance evaluation is applied to deal with the uncertainty due to the noise in sensor data, which can enhance the adaptive ability in the unknown unconstructive environment. In order to verify the valid of the proposed architecture, simulation experiment is act under united simulation platform based on virtual prototype. The simulation result is satisfactory.