Cart (Loading....) | Create Account
Close category search window
 

A real-time guidance system for an autonomous vehicle

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Bhatt, R. ; Drexel University, Philadelphia, PA ; Gaw, D. ; Meystel, A.

A real-time system for the control of an autonomous vehicle consisting of a nested hierarchy of control modules is described. The focus is on the PILOT module which provdies the real-time guidance of the system. It is responsible for the generation and tracking of dynamically feasible trajectories which follow the generally planned path and avoid local obstacles. The PILOT operation is based on a combination of simple rules and heuristic search. The state space consists of two parts: the lower level state space which represents the model of the world as a set of relationships among the units of vehicle state variables representing steering, acceleration, and velocity, as well as positions of obstacles, and the upper level state space where the relationships among generalized objects are represented as rules. Rules provide simple elementary maneuvers, and are applied when the upper level situation is easily recognized. Otherwise the situations are handled by the lower level search. Example runs of the vehicle are simulated to demonstrate the complexity of behavior. The algorithm has also been tested on a gas powered dune buggy developed at Drexel University.

Published in:

Robotics and Automation. Proceedings. 1987 IEEE International Conference on  (Volume:4 )

Date of Conference:

Mar 1987

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.