Abstract
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 language | English |
|---|---|
| Title of host publication | Proceedings of the 5th Workshop on Algorithms and Architectures for Real-time Control |
| Place of Publication | Cancun, Mexico |
| Publication date | 1998 |
| Publication status | Published - 1998 |
| Event | 5th Workshop on Algorithms and Architectures for Real-time
Control - Cancun, Mexico Duration: 1 Jan 1998 → … |
Conference
| Conference | 5th Workshop on Algorithms and Architectures for Real-time Control |
|---|---|
| City | Cancun, Mexico |
| Period | 01/01/1998 → … |