Abstract
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the 33rd International Symposium on Robotics. 7. - 11. Oct. 2002. |
| Number of pages | 5 |
| Publication status | Published - 2002 |
| MoE publication type | A4 Article in a conference publication |
| Event | 33rd International Symposium on Robotics - Duration: 7 Oct 2002 → 11 Oct 2002 |
Conference
| Conference | 33rd International Symposium on Robotics |
|---|---|
| Period | 7/10/02 → 11/10/02 |
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Keywords
- autonomous
- robot
- command
- programming
- language
- unknown
- environment
Cite this
}
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 proceeding › Conference article in proceedings › Scientific › peer-review
TY - GEN
T1 - Autonomous vehicle application experience reused via subtask level command set i.e. motion control language
AU - Blom, Marko
AU - Kauppi, Ilkka
AU - Kaarmila, Petri
AU - Virtanen, Ari
AU - Lehtinen, Hannu
PY - 2002
Y1 - 2002
N2 - 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.
AB - 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.
KW - autonomous
KW - robot
KW - command
KW - programming
KW - language
KW - unknown
KW - environment
M3 - Conference article in proceedings
BT - Proceedings of the 33rd International Symposium on Robotics. 7. - 11. Oct. 2002.
ER -