tailieunhanh - Sensor-Based Control Architecture for a Car-Like Vehicle

An additional di erence between the supply of new cars and the supply of used cars is that there is arguably market power in the supply of new cars (manufacturers have an ability to set prices for new cars), where there is arguably not in the supply of used cars. This is particularly the case because of the large volume of used cars traded weekly at auction throughout the country. Auctions are a major clearinghouse for wholesale used cars and are ubiquitously available throughout the country. (For example, Manheim, which is the largest operator of used car auctions in the ., has about 100 sites throughout the. | IN KI A INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE Sensor-Based Control Architecture for a Car-Like Vehicle Christian Laugier Thierry Fraichard Philippe Garnier Igor Paromtchik and Alexis Scheuer N 3552 Octobre 1998 THEME 3 ISSN 0249-6399 Ỉ NR. IẠ RHÒNE-ALPES Sensor-Based Control Architecture for a Car-Like Vehicle Christian Laugier Thierry Fraichard Philippe Garnier Igor Paromtchik and Alexis Scheuer Theme 3 Interaction homme-machine images données connaissances Projet Sharp Rapport de recherche n 3552 Octobre 1998 27 pages Abstract This report presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control architectures for autonomous robot systems it combines three functional components a set of basic real-time skills a reactive execution mechanism and a decision module. The main novelty of the architecture proposed lies in the introduction of a fourth component akin to a meta-level of skills the sensor-based manoeuvres . general templates that encode high-level expert human knowledge and heuristics about how a specific motion task is to be performed. The concept of sensor-based manoeuvres permit to reduce the planning effort required to address a given motion task thus improving the overall response-time of the system while retaining the good properties of a skill-based architecture . robustness flexibility and reactivity. The report focuses on the trajectory planning function which is an important part of the decision module and two types of sensor-based manoeuvres trajectory following and parallel parking that have been implemented and successfully tested on a real automatic car-like vehicle placed in different situations. Key-words motion autonomy control architecture car-like vehicle. Résumé tsvp Unite de recherche INRIA Rhone-Alpes 655 avenue de I Eriropc. 38330 MONTBONNOT ST MARTIN France Telephone 04 76 61 52 00 - .

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