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Reports Year : 1998

Sensor-Based Control Architecture for a Car-Like Vehicle

Thierry Fraichard
Philippe Garnier
  • Function : Author
Igor Paromtchik
  • Function : Author
Alexis Scheuer
  • Function : Author


This report presents a control architecture endowing a car-like vehicle moving in a dynamic and partially known environment with autonomous motion capabilities. Like most recent control architectures for autonomous robot systems, it combines three functional components: a set of basic real-time skills, a reactive execution mechanism and a decision module. The main novelty of the architecture proposed lies in the introduction of a fourth component akin to a meta-level of skills: the sensor-based manoeuvres, ie general templates that encode high-level expert human knowledge and heuristics about how a specific motion task is to be performed. The concept of sensor-based manoeuvres permit to reduce the planning effort required to address a given motion task, thus improving the overall response-time of the system, while retaining the good properties of a skill-based architectu- re, ie robustness, flexibility and reactivity. The report focuses on the trajectory planning function (which is an important part of the decision module) and two types of sensor-based manoeuvres, trajectory following and parallel parking, that have been implemented and successfully tested on a real automatic car-like vehicle placed in different situations.


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Dates and versions

inria-00073131 , version 1 (24-05-2006)


  • HAL Id : inria-00073131 , version 1


Christian Laugier, Thierry Fraichard, Philippe Garnier, Igor Paromtchik, Alexis Scheuer. Sensor-Based Control Architecture for a Car-Like Vehicle. RR-3552, INRIA. 1998. ⟨inria-00073131⟩
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