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Proceedings Paper

A High-Level Control Language For An Autonomous Land Vehicle
Author(s): Pi-Yun Cheng
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Paper Abstract

An implicit high-level control language was designed and implemented for describing and controlling the path to be executed by the FMC Autonomous Vehicle. This language is an interpreted command language and runs on a Sun workstation. It takes a list of points describing the robot's global path in either Universal Tansverse Mercator (UTM) or geodetic (latitude, longitude) coordinates. First, the input is interpreted into descriptions of vehicle direction, a sequence of bounded path segments, and advice for road following and other such actions. Then, local sensor data is fused with this global path description and finally translated into mobility commands for vehicle control.

Paper Details

Date Published: 19 October 1987
PDF: 8 pages
Proc. SPIE 0853, IECON '87: Industrial Applications of Control and Simulation, (19 October 1987); doi: 10.1117/12.942947
Show Author Affiliations
Pi-Yun Cheng, FMC Corporation (United States)


Published in SPIE Proceedings Vol. 0853:
IECON '87: Industrial Applications of Control and Simulation
Tom T. Hartley, Editor(s)

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