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Toward a path co-processor for automated vehicle control

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4 Author(s)
Grupen, R.A. ; Dept. of Comput. Sci., Massachusetts Univ., Amherst, MA, USA ; Connolly, C.I. ; Souccar, K.X. ; Burleson, W.P.

The paper describes an embedded controller as the basis for high performance navigation tasks. The approach solves Laplace's equation on a discrete grid representing the roadway map. The resulting harmonic potential is free of local minima and a greedy descent minimizes the probability of collision with posted obstacles. In this paper, the authors (1) introduce the important properties of harmonic potential functions for vehicle control applications, (2) describe a numerical procedure to compute harmonic functions on a grid, (3) express nonholonomic constraints as connectivity in the grid, (4) formulate an energy-referenced control scheme to manage vehicle dynamics, and (5) provide estimates for the performance on a four processor DSP architecture

Published in:

Intelligent Vehicles '95 Symposium., Proceedings of the

Date of Conference:

25-26 Sep 1995