Title :
Controlling the adaptive suspension vehicle
Author :
Bihari, Thomas E. ; Walliser, Thomas M. ; Patterson, Mark R.
Author_Institution :
Adaptive Machine Technol., Columbus, OH, USA
fDate :
6/1/1989 12:00:00 AM
Abstract :
A description is given of the adaptive suspension vehicle (ASV), which is an experimental, six-legged walking vehicle, and its operation. The ASV software, which consists of more than 150000 lines of source code, is discussed. The application software is written in Pascal, and the operating system is written in PL/M and assembly language. The ASV software performs the following main duties: sensing, vehicle state determination, terrain modeling, motion planning, and stereo control.<>
Keywords :
adaptive control; transport computer control; vehicles; ASV software; adaptive suspension vehicle; motion planning; sensing; six-legged walking vehicle; stereo control; terrain modeling; vehicle state determination; Adaptive control; Humans; Land surface; Land vehicles; Leg; Legged locomotion; Programmable control; Remotely operated vehicles; Vehicle driving; Vehicle safety;
