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Proceedings Paper

Software control architecture for autonomous vehicles
Author(s): Michael L. Nelson; Juan R. DeAnda; Richard K. Fox; Xiannong Meng
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Paper Abstract

The Strategic-Tactical-Execution Software Control Architecture (STESCA) is a tri-level approach to controlling autonomous vehicles. Using an object-oriented approach, STESCA has been developed as a generalization of the Rational Behavior Model (RBM). STESCA was initially implemented for the Phoenix Autonomous Underwater Vehicle (Naval Postgraduate School -- Monterey, CA), and is currently being implemented for the Pioneer AT land-based wheeled vehicle. The goals of STESCA are twofold. First is to create a generic framework to simplify the process of creating a software control architecture for autonomous vehicles of any type. Second is to allow for mission specification system by 'anyone' with minimal training to control the overall vehicle functionality. This paper describes the prototype implementation of STESCA for the Pioneer AT.

Paper Details

Date Published: 22 July 1999
PDF: 8 pages
Proc. SPIE 3693, Unmanned Ground Vehicle Technology, (22 July 1999); doi: 10.1117/12.354457
Show Author Affiliations
Michael L. Nelson, Univ. of Texas/Pan American (United States)
Juan R. DeAnda, Univ. of Texas/Pan American (United States)
Richard K. Fox, Univ. of Texas/Pan American (United States)
Xiannong Meng, Univ. of Texas/Pan American (United States)


Published in SPIE Proceedings Vol. 3693:
Unmanned Ground Vehicle Technology
Grant R. Gerhart; Robert W. Gunderson; Chuck M. Shoemaker, Editor(s)

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