Sensor-based control architecture for a car-like vehicle

  title={Sensor-based control architecture for a car-like vehicle},
  author={Christian Laugier and Thierry Fraichard and Igor E. Paromtchik and Philippe Garnier},
  journal={Auton. Robots},
This paper presents a novel control architecture for a car-like vehicle moving in a dynamic and partially known environment. The key idea is t o plan and carry out sensor-based manoeuvres. The paper focuses o n the reactive part of the architecture that features control experts, i.e. parameterized control programs adapted t o a specific manoeuvre and capable t o react in real-time to unforeseen events. Experimental results obtained with an automatic car are presented for two types of manoeuvres… CONTINUE READING
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