Some applications may require vehicles to operate in unknown cluttered environments, where a prebuilt map is not available. As such, map-based localization technologies introduced in Chap. 4 cannot be used. Moreover, anchor-based localization technologies are not applicable either, as GPS signals may not be available and pre-installation work is impossible. To enable vehicle fleet maneuvering in such scenarios, this chapter introduces a vision-based relative localization technology. Queue configuration, which suits for fleet motion in cluttered environments, is discussed in this chapter with the corresponding fleet planning and control algorithm developed. Real UGV experiments have been conducted to validate the proposed approach.
Vision-Based Leader-Follower Queue Maneuvering in Unknown Cluttered Environments
Spr.Tracts in Adv.Robotics
Collaborative Fleet Maneuvering for Multiple Autonomous Vehicle Systems ; Kapitel : 5 ; 67-89
22.09.2022
23 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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