Abstract
This chapter deals with general concepts on the automation of mobility and autonomous navigation. The emphasis is on the control and navigation of autonomous vehicles. Thus, after an introduction with historical background and basic concepts, the chapter briefly reviews general concepts on vehicle motion control by using models of the vehicle, as well as other approaches based on the information provided by humans. Autonomous navigation is also studied, involving not only motion planning and trajectory generation but also interaction with the environment to provide reactivity and adaptation in the autonomous navigation. These interactions are represented by means of nested loops closed at different frequencies with different bandwidth requirements. The human interactions at different levels are also analyzed, taking into account transmission of control commands and feedback of sensory information. Finally, the chapter studies multiple mobile systems by analyzing coordinated navigation of multiple autonomous vehicles and cooperation paradigms for autonomous mission execution.
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Abbreviations
- 2-D:
-
two-dimensional
- 3-D:
-
three-dimensional
- AGV:
-
autonomous guided vehicle
- AI:
-
artificial intelligence
- AUV:
-
autonomous underwater vehicle
- DARPA:
-
Defense Advanced Research Projects Agency
- DGC:
-
DARPA Grand Challenge
- GPC:
-
generalized predictive control
- GPRS:
-
general packet radio service
- GPS:
-
global positioning system
- GSM:
-
global system for mobile communication
- LQG:
-
linear-quadratic-Gaussian
- LQR:
-
linear quadratic regulator
- MDP:
-
Markov decision process
- MEMS:
-
micro-electromechanical system
- PDA:
-
personal digital assistant
- PID:
-
proportional, integral, and derivative
- POMDP:
-
partially observable Markov decision process
- RAM:
-
random-access memory
- ROV:
-
remotely operated underwater vehicle
- RPV:
-
remotely piloted vehicle
- RRT:
-
rapidly exploring random tree
- SLAM:
-
simultaneous localization and mapping technique
- SRI:
-
Stanford Research Institute
- UAV:
-
unmanned aerial vehicle
- Wi-Fi:
-
wireless fidelity
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Ollero, A., Castaño, Á.R. (2009). Automation of Mobility and Navigation. In: Nof, S. (eds) Springer Handbook of Automation. Springer Handbooks. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-78831-7_16
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