Autonomous vehicle application experience reused via subtask level command set i.e. motion control language

Marko Blom, Ilkka Kauppi, Petri Kaarmila, Ari Virtanen, Hannu Lehtinen (Corresponding author)

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

Abstract

Practical tasks of autonomous vehicles are usually described easily with (sub)task level commands including descriptive information on the environment. We instruct a stranger to move in our area in the same manner we wish to (i.e. it is natural to) give commands to an autonomous vehicle. As application oriented sensing, steering and control methods have been developed they can usually be adopted also in other applications with different vehicles and scales. This is a conclusion of work done during the last fifteen years and about dozen industrial applications. The work of an application engineer is supported by the method of keeping vehicle geometry and kinematics separated from path tracking and motion control. A command language called MCLMR does this for autonomous vehicles. It is an interface between sensor and actuator language of the vehicle and high level supervisory control of the autonomous vehicle.
Original languageEnglish
Title of host publicationProceedings of the 33rd International Symposium on Robotics. 7. - 11. Oct. 2002.
Number of pages5
Publication statusPublished - 2002
MoE publication typeA4 Article in a conference publication
Event33rd International Symposium on Robotics -
Duration: 7 Oct 200211 Oct 2002

Conference

Conference33rd International Symposium on Robotics
Period7/10/0211/10/02

Fingerprint

Motion control
Industrial applications
Kinematics
Actuators
Engineers
Geometry
Sensors

Keywords

  • autonomous
  • robot
  • command
  • programming
  • language
  • unknown
  • environment

Cite this

Blom, M., Kauppi, I., Kaarmila, P., Virtanen, A., & Lehtinen, H. (2002). Autonomous vehicle application experience reused via subtask level command set i.e. motion control language. In Proceedings of the 33rd International Symposium on Robotics. 7. - 11. Oct. 2002.
Blom, Marko ; Kauppi, Ilkka ; Kaarmila, Petri ; Virtanen, Ari ; Lehtinen, Hannu. / Autonomous vehicle application experience reused via subtask level command set i.e. motion control language. Proceedings of the 33rd International Symposium on Robotics. 7. - 11. Oct. 2002.. 2002.
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Blom, M, Kauppi, I, Kaarmila, P, Virtanen, A & Lehtinen, H 2002, Autonomous vehicle application experience reused via subtask level command set i.e. motion control language. in Proceedings of the 33rd International Symposium on Robotics. 7. - 11. Oct. 2002.. 33rd International Symposium on Robotics, 7/10/02.

Autonomous vehicle application experience reused via subtask level command set i.e. motion control language. / Blom, Marko; Kauppi, Ilkka; Kaarmila, Petri; Virtanen, Ari; Lehtinen, Hannu (Corresponding author).

Proceedings of the 33rd International Symposium on Robotics. 7. - 11. Oct. 2002.. 2002.

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

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Blom M, Kauppi I, Kaarmila P, Virtanen A, Lehtinen H. Autonomous vehicle application experience reused via subtask level command set i.e. motion control language. In Proceedings of the 33rd International Symposium on Robotics. 7. - 11. Oct. 2002.. 2002