Dersten, Sara and Axelsson, Jakob and Fröberg, Joakim (2015) An analysis of a layered system architecture for autonomous construction vehicles. In: Systems Conference (SysCon), 2015 9th Annual IEEE International, 13-16 April 2015, Vancouver, Canada.
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It has been suggested in the literature to organize software in autonomous vehicles as hierarchical layers where each layer makes its own decisions based on its own world model. This paper presents two alternative designs for autonomous construction vehicles based on the layered framework 4D/RCS. As a first step, the typical use cases for these vehicles were defined. Then one use case for a hauler was traversed through the two alternatives to see how they supported safety, flexibility and the use of a product platform. We found that the coordination between bucket control and motion control must be done at a low level in the hierarchy and that the relationship between the vehicle actuators and the built-in autonomous system is important for how the software is organized.
|Item Type:||Conference or Workshop Item (Paper)|
|Uncontrolled Keywords:||actuators;automobiles;construction equipment;materials handling equipment;motion control;remotely operated vehicles;4D/RCS;automotive system;autonomous construction vehicles;autonomous vehicles;bucket control;decision making;hauler;hierarchical layers;layered system architecture;motion control;product platform;software;vehicle actuators;Actuators;Asphalt;Companies;Computer architecture;Software;Vehicles;automotive systems;autonomous vehicles;system architecture;systems engineering;systems-of-systems|
|Deposited By:||Jakob Axelsson|
|Deposited On:||14 Aug 2015 11:35|
|Last Modified:||14 Jan 2016 13:54|
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