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.


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    Title :

    Map Matching Based Leader-Follower Path Retracing in Infrastructure-Free Environments


    Additional title:

    Spr.Tracts in Adv.Robotics


    Contributors:


    Publication date :

    2022-09-22


    Size :

    17 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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