Autonomous Vehicle Navigation: From Behavioral to Hybrid Multi-Controller Architectures (Hardcover)
Lounis Adouane
- 出版商: A K Peters
- 出版日期: 2016-04-05
- 售價: $3,310
- 貴賓價: 9.5 折 $3,145
- 語言: 英文
- 頁數: 260
- 裝訂: Hardcover
- ISBN: 1498715583
- ISBN-13: 9781498715584
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相關分類:
控制系統 Control-systems、無人機、自駕車
立即出貨 (庫存 < 3)
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商品描述
Improve the Safety, Flexibility, and Reliability of Autonomous Navigation in Complex Environments
Autonomous 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 and graduate students involved in mobile robotics and fully autonomous vehicle navigation, the book presents novel techniques and concepts that address different complex mobile robot tasks.
The author examines the development of reliable elementary controllers and proposes mechanisms to manage the interaction of these multi-controller architectures while addressing different constraints and enhancing metrics/criteria linked to the safety, flexibility, and reliability of the proposed control architectures. He covers the modeling of subtasks, reliable obstacle avoidance, appropriate stable control laws for target reaching/tracking, short- and long-term trajectory/waypoint planning, navigation through sequential waypoints, and the cooperative control and interaction of a group of mobile robots. The author’s website provides MATLAB® and Simulink® source code of the main procedures related to the task modeling, planning, and control of mobile robots. It also includes videos showing the main simulations and experiments given in the text.
In addition to flexible and bottom-up construction, multi-controller architectures can be formally analyzed to achieve reliable navigation in complex environments. This book reveals innovative control architectures that can lead to fully autonomous vehicle navigation in these challenging situations.
商品描述(中文翻譯)
「提升在複雜環境中自主導航的安全性、靈活性和可靠性」
「從行為到混合多控制器架構的自主車輛導航」探討在完全自主機器人導航中使用多控制器架構的應用，即使在高度動態和雜亂的環境中也能實現。本書適合從事移動機器人和完全自主車輛導航的研究人員和研究生閱讀，介紹了解決不同複雜移動機器人任務的新技術和概念。
作者探討了可靠的基本控制器的開發，並提出了管理這些多控制器架構互動的機制，同時解決不同限制條件，並提升所提控制架構的安全性、靈活性和可靠性相關的指標/準則。他涵蓋了子任務建模、可靠的障礙物避免、適當的穩定控制法則用於目標到達/追踪、短期和長期軌跡/航點規劃、順序航點導航以及一組移動機器人的協同控制和互動。作者的網站提供了與任務建模、規劃和控制移動機器人相關的主要程序的MATLAB®和Simulink®源代碼。它還包括展示文本中主要模擬和實驗的視頻。
除了靈活和自下而上的構建外，多控制器架構還可以進行正式分析，以實現在複雜環境中的可靠導航。本書揭示了可以在這些具有挑戰性情況下實現完全自主車輛導航的創新控制架構。
