A SUPERVISORY CONTROL SYSTEM FOR AN AUTONOMOUS DIRT ROAD VEHICLE Academic Article uri icon

abstract

  • ABSTRACT This paper describes a supervisory control system for an autonomous dirt road vehicle which operates in an unknown and unstructured environment. A hierarchical control system, which activates through multiple blackboard systems, was implemented. Each hierarchy is built of modules which communicate asynchronously through their corresponding blackboard. Each module is a specialized subsystem dedicated to a specific task and independent as possible. Sensor fusion was implemented using fuzzy logic rules. A simulation model was developed to evaluate system performance for a wide range of sensor conditions and vehicle speeds. Results demonstrate the vehicle's ability to track the road in an efficient and robust manner.

publication date

  • May 19, 1998