A High-Level Control Language For An Autonomous Land Vehicle

Pi-Yun Cheng

doi:10.1117/12.942947

19 October 1987 A High-Level Control Language For An Autonomous Land Vehicle

Pi-Yun Cheng

Proceedings Volume 0853, IECON '87: Industrial Applications of Control and Simulation; (1987) https://doi.org/10.1117/12.942947
Event: IECON, Cambridge, 1987, Cambridge, MA, United States

Abstract

An implicit high-level control language was designed and implemented for describing and controlling the path to be executed by the FMC Autonomous Vehicle. This language is an interpreted command language and runs on a Sun workstation. It takes a list of points describing the robot's global path in either Universal Tansverse Mercator (UTM) or geodetic (latitude, longitude) coordinates. First, the input is interpreted into descriptions of vehicle direction, a sequence of bounded path segments, and advice for road following and other such actions. Then, local sensor data is fused with this global path description and finally translated into mobility commands for vehicle control.

Citation Download Citation

Pi-Yun Cheng "A High-Level Control Language For An Autonomous Land Vehicle", Proc. SPIE 0853, IECON '87: Industrial Applications of Control and Simulation, (19 October 1987); https://doi.org/10.1117/12.942947

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