This chapter revisits the fleet maneuvering problem for multi-UGV systems without localization infrastructures. The approaches introduced in the previous two chapters both use vision-based techniques to achieve relative localization between vehicles. Vision-based technologies, however, are subject to environmental interference and motion blurring. In view of this, this chapter introduces a new relative localization technology, map matching. This technology estimates the transformation between individual maps of vehicles such that all the vehicles can be localized in a common coordinate frame. Based on the localization results, fleet planning and control algorithms are developed to achieve leader-follower path retracing in such environments. Real UGV experiments have been conducted to demonstrate the effectiveness of the proposed approach.
Map Matching Based Leader-Follower Path Retracing in Infrastructure-Free Environments
Spr.Tracts in Adv.Robotics
Collaborative Fleet Maneuvering for Multiple Autonomous Vehicle Systems ; Chapter : 7 ; 109-125
2022-09-22
17 pages
Article/Chapter (Book)
Electronic Resource
English
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