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Collaborative Fleet Maneuvering for Multiple Autonomous Vehicle Systems

Gebonden Engels 2022 9789811957970
Verwachte levertijd ongeveer 9 werkdagen

Samenvatting

This book presents theoretical foundations and technical implementation guidelines for multi-vehicle fleet maneuvering, which can be implemented by readers and can also be a basis for future research. As a research monograph, this book presents fundamental concepts, theories, and technologies for localization, motion planning, and control of multi-vehicle systems, which can be a reference book for researchers and graduate students from different levels. As a technical guide, this book provides implementation guidelines, pseudocode, and flow diagrams for practitioners to develop their own systems. Readers should have a preliminary knowledge of mobile robotics, state estimation and automatic control to fully understand the contents in this book. To make this book more readable and understandable, extensive experimental results are presented to support each chapter.

Specificaties

ISBN13:9789811957970
Taal:Engels
Bindwijze:gebonden
Uitgever:Springer Nature Singapore

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Inhoudsopgave

1 Introduction<div>1.1 Background</div><div>1.1.1 Motivations</div><div>1.1.2 Challenges</div><div>1.2 Objectives of This Book</div><div>1.3 Preview of Chapters</div><div>References</div>2 Technical Background<div>2.1 Vehicle Model</div><div>2.1.1 Kinematic Model</div><div>2.1.2 Dynamic Model</div><div>2.2 Fleet Configuration</div><div>2.2.1 Description</div><div>2.2.2 Several Common Configurations</div><div>2.2.3 Optimal Configuration</div><div>2.3 Collaborative Localization</div><div>2.3.1 Infrastructure-Based Localization</div><div>2.3.2 Infrastructure-Free Localization</div><div>2.4 Fleet Keeping and Reconstruction</div><div>2.4.1 Fleet Keeping</div><div>2.4.2 Fleet Reconstruction</div><div>2.5 Collision Avoidance</div>2.5.1 Map-Based Collision Avoidance<div>2.5.2 Reactive Collision Avoidance</div><div>References</div><div>3 GPS/INS Based Virtual-Structure Maneuvering in Outdoor Open Environments</div><div>3.1 Introduction</div><div>3.2 Problem Formulation</div><div>3.2.1 Vehicle Model</div>3.2.2 Fleet Configuration<div>3.2.3 Problem Statement</div><div>3.3 Approach</div><div>3.3.1 Collaborative Localization Based on GPS/INS</div><div>3.3.2 Motion Planning and Control for Fleet Keeping</div><div><div>3.3.3 Intra-Fleet Information Sharing</div><div>3.4 Validation</div><div>3.4.1 Experimental Setup</div><div>3.4.2 Experimental Results</div><div>3.5 Conclusions</div><div>References</div><div>4 Point Cloud Matching Based Virtual-Structure Maneuvering in Cluttered</div><div>Environments</div><div>4.1 Introduction</div><div>4.2 Problem Formulation</div><div>4.2.1 Vehicle Model</div><div>4.2.2 Fleet Configuration</div><div>4.2.3 Problem Statement</div><div>4.3 Approach</div><div>4.3.1 Collaborative Localization Based on Point Cloud Matching</div><div>4.3.2 Motion Planning and Control with Multiple Objectives</div><div>4.3.3 Intra-Fleet Information Sharing</div><div>4.4 Validation</div><div>4.4.1 Experimental Setup</div>4.4.2 Experimental Results</div><div>4.5 Conclusions</div><div>References</div><div>5 UWB Based Flexible Fleet Maneuvering in Featureless Environments</div><div>5.1 Introduction</div><div>5.2 Problem Formulation</div><div>5.2.1 Vehicle Model</div><div>5.2.2 Fleet Configuration</div><div>5.2.3 Problem Statement</div><div>5.3 Approach</div><div>5.3.1 Collaborative Localization Based on UWB</div><div>5.3.2 Motion Planning and Control for Flexile Fleet Keeping</div><div>5.3.3 Intra-Fleet Information Sharing</div><div>5.4 Validation</div><div>5.4.1 Experimental Setup</div><div>5.4.2 Experimental Results</div><div>5.5 Conclusions</div><div>References</div><div><div>6 Vision Based Leader-Follower Queue Maneuvering in Cluttered Environments</div><div>6.1 Introduction</div><div>6.2 Problem Formulation</div><div>6.2.1 Vehicle Model</div><div>6.2.2 Fleet Configuration</div><div>6.2.3 Leader-Loss Situation</div><div>6.2.4 Problem Statement</div><div>6.3 Approach</div><div>6.3.1 Collaborative Localization Based on Vision Detection</div><div>6.3.2 Motion Planning and Control for Leader-Follower Queue Keeping</div><div>6.3.3 Solution to Leader-Loss Situation</div><div>6.3.4 Intra-Fleet Information Sharing</div><div>6.4 Validation</div><div>6.4.1 Experimental Setup</div><div>6.4.2 Experimental Results</div><div>6.5 Conclusions</div><div>References</div><div>7 Vision Based Flexible Fleet Maneuvering in Cluttered Environments</div><div>7.1 Introduction</div><div>7.2 Problem Formulation</div><div>7.2.1 Vehicle Model</div>7.2.2 Fleet Configuration</div><div>7.2.3 Problem Statement</div><div>7.3 Approach</div><div>7.3.1 Collaborative Localization Based on Vision Detection</div><div>7.3.2 Motion Planning and Control for Flexible Fleet Keeping</div><div>7.3.3 Intra-Fleet Information Sharing</div><div>7.4 Validation</div><div>7.4.1 Experimental Setup</div><div>7.4.2 Experimental Results</div><div>7.5 Conclusions</div><div>References</div><div>8 Local Map Matching Based Leader-Follower Path Retracing Maneuvering in GPS-Denied Environments</div><div>8.1 Introduction</div><div>8.2 Problem Formulation</div><div><div>8.2.1 Vehicle Model</div><div>8.2.2 Fleet Configuration</div><div>8.2.3 Problem Statement</div><div>8.3 Approach</div><div>8.3.1 Collaborative Localization Based on Local Map Matching</div><div>8.3.2 Motion Planning and Control for Leader-Follower Path Retracing</div><div>8.3.3 Intra-Fleet Information Sharing</div><div>8.4 Validation</div><div>8.4.1 Experimental Setup</div><div>8.4.2 Experimental Results</div><div>8.5 Conclusions</div><div>References</div><div>9 Multi-UAV Optimal Fleet Flying for Area Patrol in Constrained Environments</div><div>9.1 Introduction</div><div>9.2 Problem Formulation</div><div>9.2.1 Vehicle Model</div><div>9.2.2 Fleet Configuration</div><div>9.2.3 Problem Statement</div><div>9.3 Approach</div><div>9.3.1 Optimal Configuration for Area Patrol</div><div>9.3.2 Motion Planning and Control for Fleet Keeping</div><div>9.3.3 Information Sharing Strategy</div><div>9.4 Validation</div><div>9.4.1 Simulation Setup</div><div>9.4.2 Simulation Results</div><div>9.5 Conclusions</div><div>References</div><div>10 Conclusion</div><div>10.1 Summary</div><div>10.2 Open Challenges</div></div>

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        Collaborative Fleet Maneuvering for Multiple Autonomous Vehicle Systems