Experimental Autonomous Vehicle Systems: Requirements and a prototype architecture

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    The paper describes the requirements for and a prototype configuration of a software architecture for control of an experimental autonomous vehicle. The test bed nature of the system is emphasised in the choice of architecture making re-configurability, data logging and extendability simple. The central element of the architecture is the ‘global database’ that serves several purposes, such as storing system parameters, making signals available for data logging and inter-process communication. Standard software components are used to a large extent, OS-9 as real-time operating system, a custom ANSI-C program extending the TCL system is used for plan execution and a combination of MATLAB and a custom made Java GUI as user interface on the remote operator console. The choice of these standard software components is explained and the individual components demonstrated. Examples of how specific tasks are implemented using the architecture are given.
    Original languageEnglish
    Title of host publicationProceedings of the 5th Workshop on Algorithms and Architectures for Real-time Control
    Place of PublicationCancun, Mexico
    Publication date1998
    Publication statusPublished - 1998
    Event5th Workshop on Algorithms and Architectures for Real-time Control - Cancun, Mexico
    Duration: 1 Jan 1998 → …


    Conference5th Workshop on Algorithms and Architectures for Real-time Control
    CityCancun, Mexico
    Period01/01/1998 → …

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