DocumentCode
2105763
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
Volume
1
fYear
1998
fDate
13-17 Oct 1998
Firstpage
216
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location
Victoria, BC
Print_ISBN
0-7803-4465-0
Type
conf
DOI
10.1109/IROS.1998.724622
Filename
724622
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