Framework for flexible intelligent control: Foundation for an autonomous vehicle.

摘要

This thesis focusses on the importance of finite state machines and the role they play in the development of a low-level sensor/actuator agent which is the basis for the control system for a semi-autonomous vehicle. A bottom-up design approach is used to suggest a flexible hierarchical control system. The hierarchical control structure introduces intelligence beginning at the lowest level of the hierarchy and increases through the upper levels of the hierarchy. Intelligence at the low-levels can be considered equivalent to human "common sense" or basic knowledge. By introducing intelligence at the low-levels independent functional units are defined providing a flexible system capable of reacting to its environment. This control structure is illustrated as it is applied to building the intelligent control system foundation for a semi-autonomous forklift vehicle.