摘要: The Hughes planning system is designed to achieve the reasoning requirements of the Autonomous Land Vehicle (ALV) for navigation in unconstrained outdoor environments. This system is designed specifically to handle diverse terrain... 展开 The Hughes planning system is designed to achieve the reasoning requirements of the Autonomous Land Vehicle (ALV) for navigation in unconstrained outdoor environments. This system is designed specifically to handle diverse terrain with maximal speed, efficacy and versatility. The hierarchical architecture for this system is presented along with the detailed algorithms, heuristics, and planning methodologies for the component modules. The architecture is structured such that lower-level modules perform tasks requiring greatest immediacy while higher-level modules perform tasks involving greater assimilation of sensor data, making use of large amounts of a priori knowledge. 收起