The previous chapter introduces a vision-based leader-follower queue maneuvering approach for multi-UGV systems moving in unknown cluttered environments. The introduced approach aims to construct a queue configuration which constrains the distance and bearing angle of the leader with respect to the follower. Besides, it uses the detection results of vision-based technique directly without taking measurement noise into consideration. This chapter considers the same problem scenario as the previous chapter, i.e., vision-based detection and unknown cluttered environments, but discusses a different fleet configuration, flexible configuration. Furthermore, measurement noise of vision detection has been taken into account. The proposed approach in this chapter has also been demonstrated by real UGV experiments.
Vision-Based Flexible Fleet Maneuvering in Unknown Cluttered Environments
Spr.Tracts in Adv.Robotics
Collaborative Fleet Maneuvering for Multiple Autonomous Vehicle Systems ; Kapitel : 6 ; 91-108
2022-09-22
18 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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