Demonstration of a Concurrently Programmed Tactical Level Control Software for Autonomous Vehicles and the Interface to the Execution Level Code by William D. Carroll

Demonstration of a Concurrently Programmed Tactical Level Control Software for Autonomous Vehicles and the Interface to the Execution Level Code Author: William D. Carroll
eBook Title: Demonstration of a Concurrently Programmed Tactical Level Control Software for Autonomous Vehicles and the Interface to the Execution Level Code
ISBN10: 1423535189
ISBN13: 978-1423535188
Language: English
Publisher: Storming Media (2000)
Category: No category
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Size ePub vers.: 1384 kb
Size PDF vers.: 1520 kb
Other formats: cb7, odf, pdf, azw, ibooks, mobi
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This is a NAVAL POSTGRADUATE SCHOOL MONTEREY CA report procured by the Pentagon and made available for public release. It has been reproduced in the best form available to the Pentagon. It is not spiral-bound, but rather assembled with Velobinding in a soft, white linen cover. The Storming Media report number is A020183. The abstract provided by the Pentagon follows: The desire for use of autonomous robotic vehicles has undergone tremendous growth in the past decade. One of the greatest challenges to the successful development of truly autonomous vehicles is the ability to link logically based high-level mission planning with low-level vehicle control software, without a labor intensive programming effort for each mission. This challenge can be effectively achieved through the use of tri-level control software architecture, as described in the Rational Behavior Model. The control software (in the tactical level) must de-couple the high-level mission planning from the low-level vehicle control software to reduce the programming effort foreach mission. This report describes an object-oriented, modular architecture forthe middle (tactical) level that uses concurrent programming techniques and multi-language interfacing. This design enables the control software to handle the intense data management effort required to operate in an autonomous fashion and interface with code already perfected for use in the strategic (top) and execution (bottom) levels. The design was evaluated by providing the tactical level with a simple execute order statement that was then used to drive the actions of the vehicle. The software package demonstrates the validity of the design and provides the framework for full implementation on an actual vehicle.

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