Embedding Intelligence into Vehicle Control: An Advisory Planner For A Semi-Autonomous Vehicle

Daniel Miley

Abstract:	This paper describes the context and architecture of the planner subsystem for the Remote Light Armored Vehicle (RLAV), a semi-autonomous land vehicle under development at Delco Systems Operations. The hardware environment in which the planner resides is first described. The major modes of vehicle operation are discussed; and the interrelationships between these modes are examined. The internal design of the local planner are then considered. The ergonometric implications of a multi-tiered driving mode architecture are considered. The implications of designing a vehicle path planner intended to work in conjunction with a human remote driver are examined. Finally, the work in progress and some results of vehicle experiments are discussed.
Published in:	Proceedings of the 1988 National Technical Meeting of The Institute of Navigation January 26 - 29, 1988 Santa Barbara, CA
Pages:	147 - 150
Cite this article:	Miley, Daniel, "Embedding Intelligence into Vehicle Control: An Advisory Planner For A Semi-Autonomous Vehicle," Proceedings of the 1988 National Technical Meeting of The Institute of Navigation, Santa Barbara, CA, January 1988, pp. 147-150.
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