Abstract: A human perception model for a vehicle steering control method including the steps of obtaining a heading error, obtaining a velocity value, obtaining a distance error, applying the heading error, inputting a measure of operator aggressiveness and defuzzifying an output from a steering rule base. The velocity value and the distance error are applied along with the heading error to fuzzy logic membership functions to produce an output that is applied to a steering rule base. A measure of the operator aggressiveness is input to the steering rule base. An output from the steering rule base is defuzzified to produce a steering signal.

Abstract: A speed control method of a vehicle including the steps of obtaining a steering angle, a velocity error and a distance error. The velocity and the distance error being determined by mathematical combinations of a GPS position, a required path and speed set points. The steering angle, velocity errors and distance error are applied to fuzzy logic membership functions to produce an output that is applied to a velocity rule base. An output from the velocity rule base is defuzzified to produce a speed signal.

Abstract: A steering control method including the steps of obtaining a heading error, obtaining a velocity value, obtaining a distance error, applying the heading error and defuzzrfying an output from a steering rule base. The velocity value and the distance error are applied along with the heading error to fuzzy logic membership functions to produce an output that is applied to a steering rule base.

Abstract: A reusable application framework for translating between a client and an external entity negotiates a first communication protocol with the client, receives an input request from the client, and parses the input request to extract client type and use case identifications. An application object module is configured for transferring the input request. A data mapper module is configured to extract input data from input requests having the client type identification, and maps the input data to an input bean. A use case handler module specific to at least one predefined task associated with the external entity receives the input bean. A broker module is configured to communicate with the external entity using a second communication protocol and inserts the input bean into a data stream of the second communication protocol for transfer to the external entity.

Abstract: The present invention relates to a system and method for intelligent mobile vehicles that can be used in unmanned robotic or manned modes, the system having a plurality of controllers, with a low-level controller that controls basic operating functions for the mobile vehicles, and a high-level controller used to issue commands for unmanned robotic operation. Division of features between different controllers enables an ability to operate the mobile vehicle even if the high-level controller should fail or experience faults.