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.


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    Title :

    Vision-Based Leader-Follower Queue Maneuvering in Unknown Cluttered Environments


    Additional title:

    Spr.Tracts in Adv.Robotics


    Contributors:


    Publication date :

    2022-09-22


    Size :

    23 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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