INTELLIGENT VEHICLE TECHNOLOGIES. CHAPTER 11. DECISIONAL ARCHITECTURES FOR MOTION AUTONOMY

Control architectures to endow robot systems with various autonomous capabilities are reviewed. These approaches differ in several ways, but the control structure of an autonomous robot placed in a dynamic and partially known environment must have both deliberative and reactive capabilities. A control architecture is presented which is designed to endow a car-like vehicle moving on the road network with motion autonomy. The key concept of sensor-based manoeuvre is described; it was successfully tested on an experimental vehicle carrying out obstacle avoidance at a roundabout and parallel parking. The concepts and a model of motion planning for car-like vehicles are presented. For the covering abstract see ITRD E109878.