Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/73895
Title: Supervisory control of an unmanned land vehicle
Authors: Chen, P.C.Y. 
Guzman, J.I.
Ng, T.C.
Poo, A.N. 
Chan, C.W.
Keywords: States and transitions
Supervisory control
Unmanned land vehicle
Issue Date: 2002
Source: Chen, P.C.Y.,Guzman, J.I.,Ng, T.C.,Poo, A.N.,Chan, C.W. (2002). Supervisory control of an unmanned land vehicle. IEEE International Symposium on Intelligent Control - Proceedings : 580-585. ScholarBank@NUS Repository.
Abstract: Achieving autonomous operation by an unmanned vehicle in open terrain remains a challenging problem in the development of land vehicles. Solving this problem requires not only sophisticated components for actuation, sensing, and communication, but also advanced supervisory control strategies that can make use of the full capability of the components. The main function of a supervisory controller is to monitor and coordinate the activities of the components such that overall behavior of the vehicle meets certain requirements. In this article, we present the design of a supervisory control architecture and its preliminary implementation for a land vehicle capable of autonomous operation in open terrain. Under this architecture, supervisory control of the vehicle is achieved by uniformly adopting a "generic" state-transition structure for each component in the vehicle. This structure represents a subset of the behavior of each component that is recognized by the supervisory controller, which is designed with the objective of achieving certain behavior of the vehicle. Implication of adopting this state-transition structure on possible formal synthesis of supervisory control is discussed.
Source Title: IEEE International Symposium on Intelligent Control - Proceedings
URI: http://scholarbank.nus.edu.sg/handle/10635/73895
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