Enhanced supervisory control system design of an unmanned ground vehicle

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