Unmanned Ground Vehicle Control System Design Based on Hybrid Architecture

Abstract

Considering the need of autonomous maneuvering, a control system of Unmanned Ground Vehicle (UGV) based on hybrid architecture is designed. On the basis of the typical hierarchical control architecture, the system introduced human machine interaction module, GIS module, and environment perception module, in order to combine the autonomous ability of UGV with human intelligence. The system is applied in tracked UGV, and experimental research was made on autonomous maneuvering under the real road environment. The results showed that the proposed system can meet the requirements of autonomous maneuvering tasks.