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A High-Level Control Language For An Autonomous Land Vehicle

An implicit high-level control language was designed and implemented for describing and controlling the path to be executed by the FMC Autonomous Vehicle. This language is an interpreted command language and runs on a Sun workstation. It takes a list of points describing the robot's global path in either Universal Tansverse Mercator (UTM) or geodetic (latitude, longitude) coordinates. First, the input is interpreted into descriptions of vehicle direction, a sequence of bounded path segments, and advice for road following and other such actions. Then, local sensor data is fused with this global path description and finally translated into mobility commands for vehicle control.