Controlling the Adaptive Suspension Vehicle

Authors:
T. E. Bihari;T. M. Walliser;M. R. Patterson
Affiliations:
Adaptive Machine Technologies, Columbus, OH;Adaptive Machine Technologies, Columbus, OH;Stanford Univ., Stanford, CA
Venue:
Computer
Year:
1989

Citing 2
Cited 3

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Dynamic adaptation of real-time software

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Intelligent real-time control of robotic vehicles

Communications of the ACM
Object technologies and real-time scheduling

ACM SIGPLAN OOPS Messenger - Special issue: object-oriented real-time systems

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Abstract

A description is given of the adaptive suspension vehicle (ASV), which is an experimental, six-legged walking vehicle, and its operation. The ASV software, which consists of more than 150000 lines of source code, is discussed. The application software is written in Pascal, and the operating system is written in PL/M and assembly language. The ASV software performs the following main duties: sensing, vehicle state determination, terrain modeling, motion planning, and stereo control.