Hierarchical finite state machines for autonomous mobile systems

This paper proposes a system architecture, related design approaches for autonomous mobile systems and guidelines for self-sufficient autonomy. Development of a tiered layout for a hybrid-state control in a series of stages as well as the integration of such a controller in the overall autonomy structure are proposed and demonstrated as part of multiple examples, including The Ohio State University participation in DARPA Urban Challenge 2007. The hierarchical layout and the iterative design methodology enable a certain level of design flexibility for the overall system and preparation for various contingencies, as illustrated on specific development cycles.