Sensor-based control architecture for a car-like vehicle
Christian Laugier, Thierry Fraichard, Igor E. Paromtchik, Ph. Garnier · 2002
Presents a control architecture for a car-like vehicle moving in a dynamic and partially known environment. The key idea is to plan and carry out sensor-based manoeuvres. The paper focuses on the reactive part of the architecture that features control experts, i.e. parameterized control programs adapted to a specific manoeuvre and capable to react in real-time to unforeseen events. Experimental results obtained with an automatic car are presented for two types of manoeuvres: lane following/changing and parallel parking.