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A Control Architecture for Autonomous Mobile Vehicles

A Control Architecture for Autonomous Mobile Vehicles
Author: Gerd G Schenkel
Publisher: Independently Published
Total Pages: 0
Release: 2024-02-21
Genre: Computers
ISBN:
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This technical book outlines the development of a control architecture for autonomous vehicles. The objective is to design a comprehensive control architecture for autonomous vehicles, encompassing essential elements such as navigation, map building, and memory management. The focus is on the intricate details of module interfaces, data structures, and the selection of appropriate algorithms. Leveraging research at Sydney University's "SUAVE" experimental platform (1993), the book delves into the setup of autonomous vehicles, including the integration of control hardware, motion controllers, and ultrasonic sensors. It discusses the implementation of map building algorithms and control architecture across two computers: one interfacing with sensors and the other managing control architecture and navigation. The design principles are rooted in established literature on control architectures, navigation techniques, and map building for autonomous mobile vehicles (AMVs). Detailed design and implementation of the navigation module, map building, and memory management algorithms are a key focus, with development carried out in C. The book emphasizes extensive simulations across various AMV missions to assess the performance of these modules. The navigation module proved adept at creating smooth navigation paths and effectively managing obstacles, including dynamic ones. The local map structure is optimized for memory efficiency and processing speed, ensuring accurate obstacle representation. The ultrasonic sensor model incorporates a Kalman Filter to minimize noise. The overall control architecture is highlighted for its flexibility and effectiveness, with all software components developed in C.

Autonomous Vehicle Navigation

Autonomous Vehicle Navigation
Author: Lounis Adouane
Publisher: CRC Press
Total Pages: 256
Release: 2016-04-21
Genre: Computers
ISBN: 1498715591
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Improve the Safety, Flexibility, and Reliability of Autonomous Navigation in Complex EnvironmentsAutonomous Vehicle Navigation: From Behavioral to Hybrid Multi-Controller Architectures explores the use of multi-controller architectures in fully autonomous robot navigation-even in highly dynamic and cluttered environments. Accessible to researchers

Autonomous Land Vehicles

Autonomous Land Vehicles
Author: Karsten Berns
Publisher: Springer Science & Business Media
Total Pages: 292
Release: 2010-02-23
Genre: Technology & Engineering
ISBN: 383489334X
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The economic potential of autonomous mobile robots will increase tremendously during the next years. Service robots such as cleaning machines and inspection or assistance robots will bring us great support in our daily lives. This textbook provides an introduction to the methods of controlling these robotic systems. Starting from mobile robot kinematics, the reader receives a systematic overview of the basic problems as well as methods and algorithms used for solving them. Localisation, object recognition, map building, navigation and control architectures for autonomous vehicles will be discussed in detail. In conclusion, a survey of specific service robot applications is included as well. This book is a very useful introduction to mobile robotics for beginners as well as advanced students and engineers.

Autonomous Mobile Robots

Autonomous Mobile Robots
Author: Frank L. Lewis
Publisher: CRC Press
Total Pages: 438
Release: 2018-10-03
Genre: Technology & Engineering
ISBN: 1351837117
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It has long been the goal of engineers to develop tools that enhance our ability to do work, increase our quality of life, or perform tasks that are either beyond our ability, too hazardous, or too tedious to be left to human efforts. Autonomous mobile robots are the culmination of decades of research and development, and their potential is seemingly unlimited. Roadmap to the Future Serving as the first comprehensive reference on this interdisciplinary technology, Autonomous Mobile Robots: Sensing, Control, Decision Making, and Applications authoritatively addresses the theoretical, technical, and practical aspects of the field. The book examines in detail the key components that form an autonomous mobile robot, from sensors and sensor fusion to modeling and control, map building and path planning, and decision making and autonomy, and to the final integration of these components for diversified applications. Trusted Guidance A duo of accomplished experts leads a team of renowned international researchers and professionals who provide detailed technical reviews and the latest solutions to a variety of important problems. They share hard-won insight into the practical implementation and integration issues involved in developing autonomous and open robotic systems, along with in-depth examples, current and future applications, and extensive illustrations. For anyone involved in researching, designing, or deploying autonomous robotic systems, Autonomous Mobile Robots is the perfect resource.

Introduction to Autonomous Mobile Robots, second edition

Introduction to Autonomous Mobile Robots, second edition
Author: Roland Siegwart
Publisher: MIT Press
Total Pages: 473
Release: 2011-02-18
Genre: Computers
ISBN: 0262295091
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The second edition of a comprehensive introduction to all aspects of mobile robotics, from algorithms to mechanisms. Mobile robots range from the Mars Pathfinder mission's teleoperated Sojourner to the cleaning robots in the Paris Metro. This text offers students and other interested readers an introduction to the fundamentals of mobile robotics, spanning the mechanical, motor, sensory, perceptual, and cognitive layers the field comprises. The text focuses on mobility itself, offering an overview of the mechanisms that allow a mobile robot to move through a real world environment to perform its tasks, including locomotion, sensing, localization, and motion planning. It synthesizes material from such fields as kinematics, control theory, signal analysis, computer vision, information theory, artificial intelligence, and probability theory. The book presents the techniques and technology that enable mobility in a series of interacting modules. Each chapter treats a different aspect of mobility, as the book moves from low-level to high-level details. It covers all aspects of mobile robotics, including software and hardware design considerations, related technologies, and algorithmic techniques. This second edition has been revised and updated throughout, with 130 pages of new material on such topics as locomotion, perception, localization, and planning and navigation. Problem sets have been added at the end of each chapter. Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners. Curriculum developed by Dr. Robert King, Colorado School of Mines, and Dr. James Conrad, University of North Carolina-Charlotte, to accompany the National Instruments LabVIEW Robotics Starter Kit, are available. Included are 13 (6 by Dr. King and 7 by Dr. Conrad) laboratory exercises for using the LabVIEW Robotics Starter Kit to teach mobile robotics concepts.

Intelligent Autonomous Vehicles

Intelligent Autonomous Vehicles
Author: International Federation of Automatic Control
Publisher: Pergamon
Total Pages: 546
Release: 1993-09-06
Genre: Computers
ISBN:
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There is an increasing range of applications in which a robot has to operate in large unstructured and uncertain environments - including military cross country missions, fire fighting, construction, nuclear plant inspections, inspecting and repairing subsea structures, assembling space stations, as well as in intelligent automobiles. Uncertainty dominates the problem domain for intelligent autonomous vehicles (IAVs) through sensing the environment and vehicle state, interpreting the data, assessing the situation, adapting to changes in the environment or tasking, replanning, navigation and piloting. IFAC, recognising the industrial, technical and economic significance of IAV research, established an International Working Party to promote research and dissemination of results in IAV systems. The IAV-93 Southampton Workshop and these resulting proceedings exemplify the vitality and significant progress made by leading IAV researchers worldwide.

Introduction to Mobile Robot Control

Introduction to Mobile Robot Control
Author: Spyros G Tzafestas
Publisher: Elsevier
Total Pages: 718
Release: 2013-10-03
Genre: Technology & Engineering
ISBN: 0124171036
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Introduction to Mobile Robot Control provides a complete and concise study of modeling, control, and navigation methods for wheeled non-holonomic and omnidirectional mobile robots and manipulators. The book begins with a study of mobile robot drives and corresponding kinematic and dynamic models, and discusses the sensors used in mobile robotics. It then examines a variety of model-based, model-free, and vision-based controllers with unified proof of their stabilization and tracking performance, also addressing the problems of path, motion, and task planning, along with localization and mapping topics. The book provides a host of experimental results, a conceptual overview of systemic and software mobile robot control architectures, and a tour of the use of wheeled mobile robots and manipulators in industry and society. Introduction to Mobile Robot Control is an essential reference, and is also a textbook suitable as a supplement for many university robotics courses. It is accessible to all and can be used as a reference for professionals and researchers in the mobile robotics field. Clearly and authoritatively presents mobile robot concepts Richly illustrated throughout with figures and examples Key concepts demonstrated with a host of experimental and simulation examples No prior knowledge of the subject is required; each chapter commences with an introduction and background