Abstract
This paper describes a conceptual framework for the development of a hierarchal control architecture for an autonomous vehicle. The concept is based on time/frequency and safety analysis on board the vehicle. The time/frequency analysis is used to structure the guidance, navigation and control systems in a set of time rings each demanding actions equal in time magnitude. The safety analysis can in an equal way structure the system in safety rings, each demanding fault and failure handling at the same level. The concept deals with the widely differing time demands at different control levels on-board the vehicle, the integration of sensors and actuators using different communication protocols, integration of wireless communication to a base and payload data handling as well as control, reliability and safety issues. The system is implemented on an autonomous platform mapping spatial density of weed and crop in a field.
| Original language | English |
|---|---|
| Book series | IFAC Proceedings Volumes (IFAC-PapersOnline) |
| Volume | 37 |
| Issue number | 8 |
| Pages (from-to) | 980-985 |
| Number of pages | 6 |
| ISSN | 1474-6670 |
| Publication status | Published - 2004 |
| Event | IFAC/EURON Symposium on Intelligent Autonomous Vehicles - Lisbon, Portugal Duration: 5 Jul 2004 → 7 Jul 2004 |
Conference
| Conference | IFAC/EURON Symposium on Intelligent Autonomous Vehicles |
|---|---|
| Country/Territory | Portugal |
| City | Lisbon |
| Period | 05/07/2004 → 07/07/2004 |
Bibliographical note
Publisher Copyright:Copyright © 2004 IFAC
Keywords
- Agriculture
- Autonomous vehicles
- Control systems