Software control architecture for autonomous vehicles

Michael L. Nelson; Juan R. DeAnda; Richard K. Fox; Xiannong Meng

doi:10.1117/12.354457

22 July 1999 Software control architecture for autonomous vehicles

Michael L. Nelson, Juan R. DeAnda, Richard K. Fox, Xiannong Meng

Proceedings Volume 3693, Unmanned Ground Vehicle Technology; (1999) https://doi.org/10.1117/12.354457
Event: AeroSense '99, 1999, Orlando, FL, United States

Abstract

The Strategic-Tactical-Execution Software Control Architecture (STESCA) is a tri-level approach to controlling autonomous vehicles. Using an object-oriented approach, STESCA has been developed as a generalization of the Rational Behavior Model (RBM). STESCA was initially implemented for the Phoenix Autonomous Underwater Vehicle (Naval Postgraduate School -- Monterey, CA), and is currently being implemented for the Pioneer AT land-based wheeled vehicle. The goals of STESCA are twofold. First is to create a generic framework to simplify the process of creating a software control architecture for autonomous vehicles of any type. Second is to allow for mission specification system by 'anyone' with minimal training to control the overall vehicle functionality. This paper describes the prototype implementation of STESCA for the Pioneer AT.

Citation Download Citation

Michael L. Nelson, Juan R. DeAnda, Richard K. Fox, and Xiannong Meng "Software control architecture for autonomous vehicles", Proc. SPIE 3693, Unmanned Ground Vehicle Technology, (22 July 1999); https://doi.org/10.1117/12.354457

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