Title: A hybrid architecture for intelligent vehicle navigation by selecting activities
Authors: Jin Li, Wuwei Chen, Tanbin Wang, Bichu Li
Addresses: School of Mechanical and Automotive Engineering, Hefei University of Technology, Hefei, China. ' School of Mechanical and Automotive Engineering, Hefei University of Technology, Hefei, China. ' School of Mechanical and Automotive Engineering, Hefei University of Technology, Hefei, China. ' Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, China
Abstract: An intelligent vehicle must have a proper architecture in order to work autonomously in a complicated and dynamic environment. After considering the advantages and disadvantages of the typical architecture, a hybrid architecture for intelligent vehicle navigation is presented. This architecture uses a blackboard to coordinate interactions between modules, and classifies the activities of the intelligent vehicle into reflecting activity and voluntary activity. The reflecting activity is activated by data and the voluntary activity is selected by the blackboard. The navigation task is accomplished by selecting proper activities to control the vehicle according to the environmental condition and the status of the vehicle. The theoretical analyses, simulation and experiment results show that this architecture has good intelligence and reactivity.
Keywords: intelligent vehicles; hybrid architecture; intelligent navigation; activity selection; priority; path tracking; vehicle navigation; blackboard.
DOI: 10.1504/IJVICS.2008.022354
International Journal of Vehicle Information and Communication Systems, 2008 Vol.1 No.3/4, pp.195 - 207
Published online: 02 Jan 2009 *
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