Experimental autonomous vehicle systems - requirements and a prototype architecture

摘要

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. Copyright direct C 1998 IFAC