System and method for behavior based control of an autonomous vehicle
System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.
1. A vehicle, comprising:
a drive control for receiving manual inputs from an operator input device to operate the vehicle in a manual mode;
actuators mated to the drive control, each actuator mated to the drive control by a mechanical linkage that disassociates and reassociates the actuator and drive control, each actuator being associated with a plurality of behaviors that each propose at least one action set;
an arbiter for:
(a) selecting, from amongst proposals provided by the behaviors, (i) the action set having highest priority from amongst the plurality of action sets, each action set characterized by a priority and comprising a plurality of alternative actions ranked according to a corresponding plurality of preferences, and (ii) an alternative action, from the selected action set, having highest corresponding preference, and
(b) modifying the selected alternative action based on an environmental condition around the vehicle; and
a controller in communication with the arbiter and the actuators for operating the actuators in accordance with the modified selected alternative action.
2. The vehicle of claim 1 , wherein the drive control comprises at least one of a throttle, a brake, an accelerator, and a transmission shifter.
3. The vehicle of claim 1 , wherein the plurality of alternative actions comprises at least one trajectory set that includes a plurality of possible paths that the vehicle may follow.
4. The vehicle of claim 1 further comprising at least one of a localization sensor in communication with the controller, a perception sensor in communication with the controller, and a terrain map in communication with the controller.
5. The vehicle of claim 4 , wherein the localization sensor is selected from the group consisting of a pitch sensor, a roll sensor, a yaw sensor, an inertial navigation system, a compass, a global positioning system, and an odometer.
6. The vehicle of claim 4 , wherein the perception sensor is selected from the group consisting of a light detecting and ranging system, a stereo vision system, an infrared vision system, a radar system, and a sonar system.
7. The vehicle of claim 1 further comprising at least one adjuster in communication with the controller for adjusting at least one of a translational velocity of the vehicle and a rotational velocity of the vehicle.
8. The vehicle of claim 1 , wherein the arbiter modifies the selected alternative action based on data received from a sensor.
9. The vehicle of claim 1 , wherein the arbiter modifies the selected alternative action based on data received from a terrain feature map.
10. The vehicle of claim 1 further comprising an articulation control for operating equipment attached to the vehicle.
11. The vehicle of claim 10 , wherein the equipment comprises a tilling apparatus.
12. The vehicle of claim 10 , wherein the equipment comprises a blade.
13. The vehicle of claim 1 , wherein the mechanical linkage comprises a lever and pivot joint.
14. The vehicle of claim 1 , wherein the mechanical linkage comprises a rack and pinion device.
15. The vehicle of claim 1 , wherein the vehicle comprises a tractor.