A real-time reflexive pilot for an autonomous land vehicle

An automatic pilot has been built that can drive an autonomous land vehicle in real time. The purpose of the pilot is to generate vehicle control commands that will direct the vehicle from the starting point to the final destination without hitting unforeseen obstacles or leaving the vicinity of the...

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Bibliographic Details
Published in:IEEE Control Systems Magazine 1986-02, Vol.6 (1), p.14-23
Main Authors: Nitao, J., Parodi, A.
Format: Article
Language:English
Subjects:
Automatic generation control
Land vehicles
Manipulator dynamics
Mobile robots
Path planning
Remotely operated vehicles
Roads
Testing
Vehicle dynamics
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Summary:An automatic pilot has been built that can drive an autonomous land vehicle in real time. The purpose of the pilot is to generate vehicle control commands that will direct the vehicle from the starting point to the final destination without hitting unforeseen obstacles or leaving the vicinity of the planned path. The pilot uses a single microprocessor and sensor range measurement to generate vehicle control commands in less than 60 ms, Because the pilot guides a relatively large vehicle, it must compensate for the vehicle dynamics. The role of the pilot is discussed within the framework of real-time planning and control. Laboratory tests are done with a computer simulation. Field tests have demonstrated that the pilot is able to guide a 10-ton M113A2 armored personnel carrier on a 1-mi course around randomly placed obstacles without crossing the outer borders of the mission plan.
ISSN:0272-1708
2374-9385
DOI:10.1109/MCS.1986.1105038