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.


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    Title :

    Vision-Based Flexible Fleet Maneuvering in Unknown Cluttered Environments


    Additional title:

    Spr.Tracts in Adv.Robotics


    Contributors:


    Publication date :

    2022-09-22


    Size :

    18 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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