Abstract
The paper describes the software architecture for control of an experimental autonomous vehicle. The test bed nature of the system is emphasised in the choice of architecture making reconfigurability, data logging and extendability simple. The central element of the architecture is the ‘global database’ that serves several purposes, such as storing system parameters, making signals available for data logging and inter-process communication.
Standard software components are used to a large extent, OS-9 as real-time operating system, Mshell for plan execution and MATLAB for building user interface on the remote operator console. The choice of these standard software components is explained and the individual components demonstrated.
Examples of how specific tasks are implemented using the architecture are given.
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References
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Ravn, O., Pjetursson, A., Andersen, N.A. (1995). A System Architecture for Experimental Autonomous Vehicles. In: Dillmann, R., Rembold, U., Lüth, T. (eds) Autonome Mobile Systeme 1995. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-80064-1_29
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DOI: https://doi.org/10.1007/978-3-642-80064-1_29
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-60657-4
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