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wang yuanzhe; wang danwei - collaborative fleet maneuvering for multiple autonomous vehicle systems

Collaborative Fleet Maneuvering for Multiple Autonomous Vehicle Systems

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Dettagli

Genere:Libro
Lingua: Inglese
Editore:

Springer

Pubblicazione: 09/2022
Edizione: 1st ed. 2023





Trama

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.





Sommario

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




Autore

Yuanzhe Wang received the B.Eng. degree from the Southeast University, China, in 2010, the M.Eng. degree from the Beihang University, China, in 2013, and the Ph.D. degree from the Nanyang Technological University (NTU), Singapore, in 2019. He is a Research Fellow in the School of Electrical and Electronic Engineering, NTU. He has served as an Associate Editor for The IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) from 2020 to 2022. His current research interests include mobile robotics, control application, and cybersecurity in robotics.
 
Danwei Wang received his Ph.D. and M.S.E. degrees from the University of Michigan, Ann Arbor in 1989 and 1984, respectively. He received his B.E. degree from the South China University of Technology, China, in 1982. He is a Professor in the School of Electrical and Electronic Engineering, Nanyang Technological University (NTU), Singapore. He has served as the Head of the Division of Control and Instrumentation, NTU from 2005 to 2011, the Director of the Center for System Intelligence and Efficiency, NTU from 2014 to 2016, and the Director of the ST Engineering-NTU Corporate Laboratory, NTU from 2015 to 2021. He also served as general chairman, technical chairman and various positions in several international conferences. He was a recipient of Alexander von Humboldt fellowship, Germany. He is a Fellow of Academy of Engineering, Singapore, and a Fellow of IEEE. His research interests include robotics, control engineering, and fault diagnosis.











Altre Informazioni

ISBN:

9789811957970

Condizione: Nuovo
Collana: Springer Tracts in Advanced Robotics
Dimensioni: 235 x 155 mm Ø 455 gr
Formato: Copertina rigida
Illustration Notes:XIII, 153 p. 45 illus., 38 illus. in color.
Pagine Arabe: 153
Pagine Romane: xiii


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