Action-oriented sensor data integration and its application to control of an autonomous vehicle
M. Niizuma, M. Tomizawa, Yukihiro Kawano, Masashi Sugiyama, T. Oikawa, S. Misono, Sadao Degawa · 2002
We describe the control system structure of our test autonomous vehicle for indoor movement. The control system consists of several independent "sub-controllers". Each sub-controller has its own map and planner and is tuned for one particular environment. As the vehicle moves around and encounters a different environment, a different sub-controller becomes active and plans vehicle's action. The data processing in a sub-controller becomes simple, as it copes only with one particular kind of environment. This approach enables the machine to cope with various environments by adding different sub-controllers.>