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
    Number of pages5
    Publication statusPublished - 2002
    MoE publication typeNot Eligible
    Event33rd International Symposium on Robotics, ISR 2002 - Stockholm, Sweden
    Duration: 7 Oct 200211 Oct 2002

    Conference

    Conference33rd International Symposium on Robotics, ISR 2002
    CountrySweden
    CityStockholm
    Period7/10/0211/10/02

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    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