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Planning and reasoning for autonomous vehicle control
Author(s) -
Mitchell Joseph S. B.,
Payton David W.,
Keirsey David M.
Publication year - 1987
Publication title -
international journal of intelligent systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.291
H-Index - 87
eISSN - 1098-111X
pISSN - 0884-8173
DOI - 10.1002/int.4550020204
Subject(s) - component (thermodynamics) , computer science , heuristics , terrain , motion planning , a priori and a posteriori , spatial intelligence , artificial intelligence , architecture , real time computing , control engineering , systems engineering , robot , engineering , art , ecology , philosophy , physics , epistemology , biology , visual arts , thermodynamics , operating system
A reasoning system to support the planning and control requirements of an autonomous land vehicle is described. This system is designed specifically to handle diverse terrain with maximal speed, efficacy, and versatility. the hierarchical architecture for this system is presented along with the detailed algorithms, heuristics, and planning methodologies for the component modules. the architecture is structured such that lower‐level modules perform tasks requiring greatest immediacy, while higher‐level modules perform tasks involving greater assimilation of sensor data, making use of large amounts of a priori knowledge. In describing the component modules of this system, specific techniques for mission planning, map‐based route planning, local terrain navigation, and reflexive vehicle control are presented. These techniques have been demonstrated both in a detailed realtime simulation and on a small indoor robotic vehicle.