Abstract
Autonomous systems with multiple sensory and effector modules face the problem of coordinating these components while fulfilling tasks such as moving towards a goal and avoiding sensed obstacles. We propose to solve this integration problem through a two-level planning dynamics. Through adequate choice of the planning variables this dynamics resides at an abstract task-related level. At the same time, stable control behavior in closed loop is granted by the stability properties of the dynamics. The capability of the system to perform stable planning, make planning decisions, and integrate redundant as well as complementary information is demonstrated by software simulations. These include the simulation of control errors on both the effector and the sensor side.
Supported through grants from the BMFT, Bonn (NAMOS Projekt), and the MWF Nordrhein-Westfalen.
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© 1992 Springer-Verlag Berlin Heidelberg
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Dose, M., Schöner, G. (1992). Closed loop autonomous vehicle path planning by dynamical systems. In: Fuchs, S., Hoffmann, R. (eds) Mustererkennung 1992. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-77785-1_39
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DOI: https://doi.org/10.1007/978-3-642-77785-1_39
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