Automation of Mobility and Navigation

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.

[1]  Carlos Canudas de Wit,et al.  Theory of Robot Control , 1996 .

[2]  Petros A. Ioannou,et al.  Using front and back information for tight vehicle following maneuvers , 1999 .

[3]  R. W. Brockett,et al.  Asymptotic stability and feedback stabilization , 1982 .

[4]  Serge Boverie,et al.  Applications of fuzzy logic: towards high machine intelligence quotient systems , 1997 .

[5]  Aníbal Ollero,et al.  Intelligent Mobile Robot Navigation , 2005, Springer Tracts in Advanced Robotics.

[6]  Martial Hebert,et al.  Vision and navigation for the Carnegie-Mellon Navlab , 1988 .

[7]  Lorenzo Marconi,et al.  Advances in Control Theory and Applications , 2007 .

[8]  Wolfram Burgard,et al.  Probabilistic Robotics (Intelligent Robotics and Autonomous Agents) , 2005 .

[9]  Sebastian Thrun,et al.  A Probabilistic On-Line Mapping Algorithm for Teams of Mobile Robots , 2001, Int. J. Robotics Res..

[10]  Ron Kurjanowicz.  Foreword for Journal of Field Robotics - Special Issue on the DARPA grand challenge , 2006, J. Field Robotics.

[11]  Andrew B. Kahng,et al.  Cooperative Mobile Robotics: Antecedents and Directions , 1997, Auton. Robots.

[12]  Maja J. Mataric,et al.  Sold!: auction methods for multirobot coordination , 2002, IEEE Trans. Robotics Autom..

[13]  Vijay Kumar,et al.  Modeling and control of formations of nonholonomic mobile robots , 2001, IEEE Trans. Robotics Autom..

[14]  Aníbal Ollero,et al.  Vision-based multi-UAV position estimation , 2006, IEEE Robotics & Automation Magazine.

[15]  Jihua Huang,et al.  Control oriented modeling for enhanced yaw stability and vehicle steerability , 2004, Proceedings of the 2004 American Control Conference.

[16]  Kil-To Chong,et al.  A Lyapunov function approach to longitudinal control of vehicles in a platoon , 2001, IEEE Trans. Veh. Technol..

[17]  Philippe Martinet,et al.  Nonlinear Control for Urban Vehicles Platooning, Relying upon a Unique Kinematic GPS , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[18]  Masayoshi Tomizuka,et al.  Robust H/sub /spl infin// lateral control of heavy-duty vehicles in automated highway system , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[19]  Antonio Bicchi,et al.  Vision-based dynamic estimation and set-point stabilization of nonholonomic vehicles , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[20]  Aníbal Ollero,et al.  Backing-Up Maneuvers of Autonomous Tractor-Trailer Vehicles using the Qualitative Theory of Nonlinear Dynamical Systems , 2009, Int. J. Robotics Res..

[21]  F. Cuesta,et al.  Modeling and Control of Autonomous Helicopters , 2007 .

[22]  R. Marin,et al.  An Industrial Automated Warehouse Based on Overhead Trolleys. , 1997 .

[23]  Ching-Yao Chan,et al.  Feasibility analysis of steering control as a driver-assistance function in collision situations , 2001, IEEE Trans. Intell. Transp. Syst..

[24]  S. LaValle.  Rapidly-exploring random trees : a new tool for path planning , 1998 .

[25]  Rachid Alami,et al.  M+: a scheme for multi-robot cooperation through negotiated task allocation and achievement , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[26]  R. Horowitz,et al.  Control design of an automated highway system , 2000, Proceedings of the IEEE.

[27]  Aníbal Ollero,et al.  Control and perception techniques for aerial robotics , 2003, Annu. Rev. Control..

[28]  Aníbal Ollero,et al.  A robotic system for internal inspection of water pipelines , 1999, IEEE Robotics Autom. Mag..

[29]  Michel Parent,et al.  Cybercars : Past, Present and Future of the Technology , 2005, ArXiv.

[30]  Michael Beetz,et al.  Cooperative probabilistic state estimation for vision-based autonomous mobile robots , 2002, IEEE Trans. Robotics Autom..

[31]  Aníbal Ollero,et al.  Stability of autonomous vehicle path tracking with pure delays in the control loop , 2007, Adv. Robotics.

[32]  Reza Kazemi,et al.  Real-time estimation of vehicle state and tire-road friction forces , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

[33]  Aníbal Ollero,et al.  The autonomous mobile robot AURORA for greenhouse operation , 1996, IEEE Robotics Autom. Mag..

[34]  Luis Merino,et al.  Control and perception techniques for aerial robotics , 2003 .

[35]  Tucker R. Balch,et al.  Behavior-based formation control for multirobot teams , 1998, IEEE Trans. Robotics Autom..

[36]  Thomas Hellström,et al.  Development of an Autonomous Forest Machine for Path Tracking , 2005, FSR.

[37]  Michel Parent,et al.  Platooning for Small Public Urban Vehicles , 1995, ISER.

[38]  Ahmad A. Masoud,et al.  Motion planning in the presence of directional and regional avoidance constraints using nonlinear, anisotropic, harmonic potential fields: a physical metaphor , 2002, IEEE Trans. Syst. Man Cybern. Part A.

[39]  David G. Armstrong,et al.  Autonomous ground vehicle path tracking , 2004 .

[40]  Anibal Ollero,et al.  SYNTHESIS OF A SPATIAL LOOKAHEAD PATH TRACKING CONTROLLER , 2005 .

[41]  Bradford W. Parkinson,et al.  System Identification and Robust Control of Farm Vehicles Using CDGPS , 1997 .

[42]  Anibal Ollero,et al.  Analysis of a GPS-Based Fuzzy Supervised Path Tracking System for Large Unmanned Vehicles , 2000 .

[43]  Gordon Wyeth,et al.  Autonomous helicopter hover using an artificial neural network , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[44]  Aníbal Ollero,et al.  A cooperative perception system for multiple UAVs: Application to automatic detection of forest fires , 2006, J. Field Robotics.

[45]  A. Rachid,et al.  Speed, steering angle and path tracking controls for a tricycle robot , 1996, Proceedings of Joint Conference on Control Applications Intelligent Control and Computer Aided Control System Design.

[46]  Alessandro Astolfi,et al.  Path-tracking of a tractor-trailer vehicle along rectilinear and circular paths: a Lyapunov-based approach , 2004, IEEE Transactions on Robotics and Automation.

[47]  Lynne E. Parker,et al.  ALLIANCE: an architecture for fault tolerant multirobot cooperation , 1998, IEEE Trans. Robotics Autom..

[48]  Rajesh Rajamani,et al.  GPS-Based Real-Time Identification of Tire-Road Friction Coefficient , 2002 .

[49]  Jean-Claude Latombe,et al.  Robot motion planning , 1970, The Kluwer international series in engineering and computer science.

[50]  Xiaoming Hu,et al.  Control of mobile platforms using a virtual vehicle approach , 2001, IEEE Trans. Autom. Control..

[51]  Takeo Kanade,et al.  A visual odometer for autonomous helicopter flight , 1999, Robotics Auton. Syst..

[52]  Sanjiv Singh,et al.  The 2005 DARPA Grand Challenge , 2007 .

[53]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1986 .

[54]  Aníbal Ollero,et al.  Multiple eyes in the skies: architecture and perception issues in the COMETS unmanned air vehicles project , 2005, IEEE Robotics & Automation Magazine.

[55]  Aníbal Ollero,et al.  Mobile robot trajectory planning with dynamic and kinematic constraints , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[56]  Bart Kosko,et al.  Fuzzy throttle and brake control for platoons of smart cars , 1996, Fuzzy Sets Syst..

[57]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Autonomous Robot Vehicles.

[58]  Aníbal Ollero,et al.  A mobile robot iconic position estimator using a radial laser scanner , 1995, J. Intell. Robotic Syst..

[59]  Kurt Konolige,et al.  Map merging for distributed robot navigation , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).