Intelligent Autonomous Vehicles 1995 (eBook)

Aarne Halme, K. Koskinen (Herausgeber)

eBook Download: PDF

2014 | 1. Auflage
406 Seiten
Elsevier Science (Verlag)
978-1-4832-9686-9 (ISBN)

Infos

The area of intelligent autonomous vehicles or robots has proved to be very active and extensive both in challenging applications as well as in the source of theoretical development. Automation technology is rapidly developing in many areas including: agriculture, mining, traditional manufacturing, automotive industry and space exploration. The 2nd IFAC Conference on Intelligent Autonomous Vehicles 1995 provides the forum to exchange ideas and results among the leading researchers and practitioners in the field. This publication brings together the papers presented at the latest in the series and provides a key evaluation of developments in automation technologies.

Inhalt

Front Cover 1
Intelligent Autonomous Vehicles 1995 2
Copyright Page 3
2nd IFAC Conference on Intelligent Autonomous Vehicles 4
Foreword 5
Table of Contents 6
PART I: VISION BASED PERCEPTION 12
Chapter 1. Vehicle Detection and Recognition in Greyscale Imagery 12
1. Introduction 12
2. Detection 12
3. Recognition 14
4. Integration and results 17
5. Conclusions 17
Acknowledgements 17
6. REFERENCES 17
Chapter 2. More Intelligence by Knowledge-Based Colour-Evaluation Signal Light Recognition
1. INTRODUCTION 18
2. SIGNAL LIGHTS IN HIGHWAY TRAFFIC 19
3. CONCEPT OF SIGNAL LIGHT RECOGNITION 20
4. SLR-IMPLEMENTATION 21
5. EXPERIMENTS 22
6. CONCLUSION 23
7. ACKNOWLEDGEMENTS 23
REFERENCES 23
Chapter 3. Knowledge Based Real-Time Vision 24
1. VISION FOR IAV 24
2. THE IMAGE MEASUREMENT SYSTEM 'KRONOS' 24
3. OBJECT REPRESENTATION FOR TRACKING 25
4. DOMAIN MODELING 27
5. APPLICATIONS 28
6. CONCLUSIONS 29
7. REFERENCES 29
Chapter 4. A Global Road Scene Analysis System for Autonomous Vehicles 30
1. HIGH SPEED VEHICLE GUIDANCE 30
2. GLOBAL ROAD MARKING ANALYSIS 31
3. REAL TIME IMPLANTATION 33
4. RESULTS AND DISCUSSION 34
ACKNOWLEDGMENTS 34
5. REFERENCES 34
PART II: SENSORS AND CONTROL SYSTEMS 36
Chapter 5. An All-Terrain Intelligent Autonomous Vehicle with Sensor Fusion Based Navigation Capabilities 36
1. INTRODUCTION 36
2. HIGH VANTAGE POINT BASED NAVIGATION 37
3. DISTANCE TRANSFORM BASED PATH PLANNING 37
4. EXPERIMENTAL FIT-OUT 38
5. PRELIMINARY TRACKING RESULTS 39
6. PASSIVE AND ACTIVE RANGE SENSORS 39
7. CONCLUSIONS 39
REFERENCES 39
Chapter 6. Development in Digital Transducers for Vehicle Control and Telemetrie Instrumentation 44
1. INTRODUCTION 44
2. GENERAL DIGITAL TRANSDUCER DESIGN ASPECTS 45
3. CURRENT TRANSDUCER 45
4. ACCELEROMETER 46
5. Conclusions 48
References 48
Chapter 7. Autonomous Mobile Robot Navigation Using a Low-Cost Fibre Optic Gyroscope 50
1. BACKGROUND 50
2. GYROSCOPE OPERATING PRINCIPLES 50
3. GYROSCOPE DEVELOPMENT 51
4. ROBOT NAVIGATION 52
ACKNOWLEDGEMENT 54
REFERENCES 54
Chapter 8. On the Design and Prototyping of a Mobile Robot Control System 56
1. INTRODUCTION 56
2. TEST VEHICLE 57
3. FUNCTIONAL STRUCTURE OF THE CONTROL SYSTEM 58
5. PATH GENERATION AND TRAJECTORY CONTROL PRINCIPLES 60
6. PROTOTYPE CODE CREATION AND SIMULATION 61
7. DISCUSSION 62
REFERENCES 62
Acknowledgements 62
PART III: ROUTE AND MOTION PLANNING I 64
Chapter 9. Path Planning by Intelligent Autonomous Robotic Vehicles with Growing World Models 64
INTRODUCTION 64
2. FORMALIZATION OF THE PROBLEM 65
3. PLANNING A GLOBALLY SHORTEST PATH 66
4. GRAPH MODEL GROWING IN THE CASE OF NEW START AND/OR GOAL POINTS 68
5. CONCLUSION 69
REFERENCES 69
Chapter 10. Planning Optimal Paths in a Partially Unknown Environment 70
1. INTRODUCTION 70
2. GLOBAL PATH PLANNING 71
3. LOCAL PATH PLANNING 71
4. EXPERIMENTS 73
5. CONCLUSION 73
ACKNOWLEDGMENT 74
REFERENCES 74
Chapter 11. Planning for Reactive Control 76
1. INTRODUCTION 76
2. CONTROL SYSTEM 77
3. LOCALIZATION SYSTEM 78
4. PLANNING SYSTEM 79
6. CONCLUSIONS 80
REFERENCES 81
Chapter 12. Path Finding Problem and Information Support of Mobile Robots in Uncertainty 82
1. INTRODUCTION 82
2. PATH FINDING ALGORITHMS, THEIR INCOMPARAB1LITY AND ADAPTATION IN UNCERTAINTY. 83
3. THE ALGORITHM EFFICIENCY AND THE RADIUS OF RANGER ACTION. 84
4. UNSTABLE DOMINATION. 85
5. INFORMATION SUPPORT OF MOTION 86
6. CONCLUSIONS 87
REFERENCES 87
PART IV: ROUTE AND MOTION PLANNING II 90
Chapter 13. An Intelligent Supervisory Model for Path Planning and Guidance of Mobile Robots in Non-structured Environments 90
1. INTRODUCTION 90
2. CONTROL SYSTEM ARCHITECTURE 91
3. MODULE DESCRIPTION 91
4. INTELLIGENT SUPERVISORY LEVEL 94
5. CONCLUSIONS 95
6. ACKNOWLEDGEMENTS 95
7. REFERENCES 95
Chapter 14. Planning and Behaviours - A Hybrid Architecture for Mobile Robots 96
1. INTRODUCTION 96
2. THE ROBOT TEST BED 97
3. A MULTI-AGENT FRAMEWORK 97
4. INTER-AGENT COMMUNICATION 98
5. THE REFLECTIVE AGENT 99
6. DEALING WITH FAILURE 100
7. CONCLUSIONS 100
REFERENCES 101
Chapter 15. Non-Holonomic Motion Planning Using Distance Field 102
1. INTRODUCTION 102
2. KINEMATIC MODELS 103
3. WEIGHTED DISTANCE FIELD 104
4. SIMULATION RESULTS 106
5. CONCLUSIONS 106
ACKNOWLEDGEMENTS 106
REFERENCES 107
Chapter 16. A Robot-Task Planner for Mobile Robots 108
1 INTRODUCTION 108
2 THE ROBOT-TASK CONCEPT 108
3 PATH PLANNING 110
4 ROBOT-TASK PLANNING 111
5 CONCLUDING REMARKS 113
References 113
Chapter 17. Mission Planning for an Autonomous Land Vehicle in an Uncertain Environment 114
1. PROBLEM FORMULATION 114
2. ENVIRONMENT MODEL 115
3. PATH SEARCH 116
4. COMPLETION OF A MISSION WITH REPLANNING 117
5. CONCLUSION 117
REFERENCES 118
PART V: INVITED PAPER 120
Chapter 18. Mobile Robots for Planetary Exploration 120
1. INTRODUCTION 120
2. REQUIREMENTS FOR PLANETARY ROVERS 121
3. SURVEY ON PLANETARY ROVERS 121
4. ACTUAL MARS ROVER DEVELOPMENTS 124
5. System Aspects of the Marsnet Instrument Deployment Device 126
6. CONCLUSIONS 130
REFERENCES 130
PART VI: WALKING MACHINES 132
Chapter 19. On the Gait Control of a Six-Legged Walking Machine 132
1. INTRODUCTION 132
2. REGULAR GAITS 132
3. NEUROBIOLOGICAL COORDINATION 133
4. FREE GAIT 134
CONCLUSION 137
REFERENCES 137
Chapter 20. Implementing and Testing a Reasoning Based Free Gait Algorithm in the Six Legged 138
1. INTRODUCTION 138
2. ABOUT GAITS 138
3. MOTION PLANNING 139
4. THE FREE GAIT OF MECANT 140
5. DISCRETE WALKER 142
6. SIMULATOR TESTS 142
7. TESTS WITH MECANT 143
REFERENCES 143
Chapter 21. Six Degrees of Freedom Position and Posture Control for a Quadruped Robot 144
1. INTRODUCTION 144
2. POSITION AND POSTURE CONTROL 144
3. EXPERIMENTAL QUADRUPED ROBOT 146
4. EXPERIMENTAL RESULTS 148
5. CONCLUSION 149
REFERENCES 149
Chapter 22. Motion Control of a Terrain-Adaptive Walking Robot 150
1. INTRODUCTION 150
2. ATTITUDE CONTROL 151
3. POSITION CONTROL 151
4. ATTITUDE/POSITION CONTROL STRATEGY FOR A WAVE GAIT 152
5. TERRAIN ADAPTIVE GAIT CONTROL 153
7. CONCLUSIONS 155
ACKNOWLEDGMENT 155
REFERENCES 155
PART VII: CLIMBING AND WALKING MACHINES 156
Chapter 23. Mechatronics Structure of Wall Climbing Autonomous Vehicle 156
1. INTRODUCTION 156
2. MECHATRONICS DRIVES AND SENSOR STRUCTURE 157
3. REMOTE CONTROL SYSTEM OF AWCR 158
4. SOFTWARE STRUCTURE OF AWCR REMOTE CONTROL SYSTEM 159
5. FUZZY CONTROL ALGORITHMS FOR PRIMARY TASKS 160
6. CONCLUSION 161
REFERENCES 161
Chapter 24. Energy Consumption of a Walking Machine. Model Estimations and Optimization 162
1. INTRODUCTION 162
2. PARAMETERS OF THE WALKING MACHINE AND GAIT 162
3. ENERGY CONSUMPTION OF THE WALKING MACHINE LOCOMOTION 163
4. ENERGY CONSUMPTION TO PROVIDE MOTION OF LEGS WITH RESPECT TO THE BODY 163
5. ENERGY CONSUMPTION TO SUPPORT THE MACHINE'S WEIGHT 164
6. ENERGY CONSUMPTION FOR DEVELOPING TRACTION 165
7. TOTAL ENERGY CONSUMPTION FOR THE MACHINE LOCOMOTION 165
8. ON ENERGY RECUPERATION AT LOCOMOTION OF WALKING MACHINE 166
9. COMPARISON WITH ENERGY CONSUMPTION ON LOCOMOTION OF ANIMALS 166
REFERENCES 167
PART VIII: INDUSTRIAL MATERIAL TRANSPORTATION 168
Chapter 25. Mobile Robot for an Industrial Environment 168
1. INTRODUCTION 168
2. CURRENT HYDRAULIC CIRCUIT 168
3. SUGGESTED HYDRAULIC CIRCUIT 169
4. SUGGESTED CIRCUIT HYDRAULIC OF WORK 170
5. DRIVING HYDRULIC SYSTEM 171
6. THE SECURITY ELEMENTS 171
7. POWER SUPPLY. 171
8. DETAIL DE THE MODIFICATIONS CARRIED OUT IN THE FORKLIFT TRUCK. 171
9. CONCLUSIONS 172
10. REFERENCES 172
Chapter 26. On the Abnormal Operating Modes Management in a Transportation System 174
1. INTRODUCTION 174
2. VEHICLES OPERATING MODES 174
3. COEXISTENCE OF DIFFERENT OPERATING MODES 175
4. DECISION SUPPORT FOR OPERATING MODES COMMUTATION 176
5. CONCLUSION 179
REFERENCES 179
PART IX: LOCALIZATION AND NAVIGATION TECHNIQUES I 180
Chapter 27. Map-Based Free Navigation for Autonomous Vehicles 180
1 INTRODUCTION 180
2 KALMAN FILTER 181
3 MATCHING 184
4 SUPERVISION 184
5 IMPLEMENTATION 185
6 CONCLUSION 185
7 REFERENCES 185
Chapter 28. Design of Navigation and Control for an AGV 186
1. INTRODUCTION 186
2. NAVIGATION 187
3. SIMULATION ENVIRONMENT IN MATLAB 189
4. TEST-BED 190
5. SIMULATION AND EXPERIMENTS 190
6. CONCLUSION 191
7. ACKNOWLEDGEMENT 191
8. REFERENCES 191
Chapter 29. Real Time Mobile Robot Localization by Using a Laser and a Geometric Map 192
1. INTRODUCTION 192
2. THE SENSORIAL SYSTEM. 193
3. THE CALIBRATION 193
4. PREVIOUS DEFINITIONS 193
5.THE EXTENDED KALMAN FILTER 194
6. RESULTS 195
7. BIBLIOGRAPHY 195
Chapter 30. Mobile Robot Navigation in Indoor Environments Using Highways and Off-Roads 198
1. INTRODUCTION 198
2. THE MOBILE ROBOT 198
3. THE WORLD MODEL 200
4. MOTION PLANNING 202
5. CONCLUSION 203
6. REFERENCES 203
PART X: LOCALIZATION AND NAVIGATION TECHNIQUES 204
Chapter 31. An Evaluation of INS and GPS for Autonomous Navigation 204
1. INTRODUCTION 204
2. PATH PLANNING 205
3. POSITIONING SENSORS 205
4. INTEGRATION OF POSITIONING SENSORS 207
5. EXPERIMENTAL RESULTS 207
6. CONCLUSIONS 208
REFERENCES 209
Chapter 32. Scene Recognition and Landmark Navigation for Road Vehicles 210
1. INTRODUCTION 210
2. LOCAL INTEGRALS MISSION ELEMENTS
3. MISSION PLANNING AND MONITORING 214
4. CONCLUSIONS 214
LITERATURE 215
Chapter 33. Development of an Autonomous Navigation System for an Outdoor Vehicle 216
1 INTRODUCTION 216
2 THE PLATFORM 216
3 CONTROL SYSTEM 216
4 MISSION PLANNING AND CONTROL UNIT (MPCU) 217
5 POSITIONING UNIT (PU) 218
6 PILOTING SYSTEM UNIT (PSU) 220
7 CONCLUSIONS 221
REFERENCES 221
Chapter 34. Positioning an Autonomous Off-Road Vehicle by Using Fused DGPS and Inertial Navigation 222
1. INTRODUCTION 222
2. THE TEST BED ARSKA 223
3. GLOBAL POSITIONING SYSTEMS 224
4. GUARDING TASK 226
5 CONCLUSIONS 227
REFERENCES 227
PART XI: LOCALIZA TION AND NA VIGA TION TECHNIQUES III 228
Chapter 35. Estimating a Position of Autonomous Vehicle Based on Projection Function 228
1. INTRODUCTION 228
2. ESTIMATION OF THE POSITION 228
3. EFFECTIVENESS OF THE METHOD 230
4. CONCLUSION 232
REFERENCES 233
Chpater 36. Neural Navigation Approach of an Autonomous Mobile Robot in a Partially Structured Environment 234
I. INTRODUCTION 234
II. FUZZY AND NEURAL NAVIGATION APPROACHES 235
III. THE PROPOSED NEURAL NAVIGATION APPROACH 235
IV. SIMULATION 238
V. CONCLUSION 239
ACKNOWLEDGEMENTS 239
REFERENCES 239
Chapter 37. Localization System of the Hospital Transport Robot FIRST 240
1. INTRODUCTION 240
2. OVERVIEW OF FIRST 241
3. ROBOT LOCALIZATION 242
4. RESULTS 244
5. CONCLUSION 245
ACKNOWLEDGEMENTS 245
6. REFERENCES 245
Chapter 38. Spatial Learning of an Autonomous Mobile Robot Using Model-Based Approach 246
1. INTRODUCTION 246
2. MODEL-BASED OBSTACLE AVOIDANCE 247
3. SPATIAL LEARNING USING HYPOTHESIS REASONING 247
4. EXPERIMENTS 250
5. CONCLUSION 251
REFERENCES 251
PART XII: MOTION CONTROL 252
Chapter 39. Design of a Robust High Performance Fuzzy Path Tracker for Autonomous Vehicles 252
1. INTRODUCTION 252
2. FUZZY PATH TRACKING 253
3. ROBUST DESIGN OF FUZZY PATH TRACKERS 253
4. RAM-1 FUZZY PATH TRACKING 255
5. CONCLUSIONS 256
6. REFERENCES 256
Chapter 40. Robust Tracking and Parking Control Laws for Wheeled Autonomous Vehicles 258
1. INTRODUCTION 258
2. PROBLEM STATEMENT 258
3. ROBUSTNESS 260
4. ROBUST DYNAMIC STATE FEEDBACK TRACKING CONTROLLER 260
5. ROBUST PARKING CONTROL LAW 261
6. SIMULATION RESULTS 262
6. CONCLUDING REMARKS 263
References 263
APPENDIX 263
Chapter 41. Hierarchical Behavioural Control for Autonomous Vehicles 264
1. INTRODUCTION 264
2. THE COMPUTATIONAL MODEL 265
3. THE LANGUAGE 265
4. RESULTS 267
5. CONCLUSIONS 268
REFERENCES 268
APPENDIX 269
Chapter 42. Lateral Vehicle Control for Automated Lane Following 270
1 INTRODUCTION 270
2 MATHEMATICAL MODEL OF THE VEHICLE 271
3 NONLINEAR LATERAL CONTROL SYSTEM 272
4 CONCLUSION 275
5 ACKNOWLEDGEMENT 275
References 275
PART XIII: NEURAL MOTION CONTROLLERS 276
Chapter 43. Neural Speed Control for Autonomous Road Vehicles 276
1. INTRODUCTION 276
2. NONLINEAR VEHICLE MODEL 277
3. TRAINING METHOD 278
4. SPEED CONTROLLER DESIGN 279
5. RESULTS 279
6. CONCLUSIONS 281
REFERENCES 281
Chapter 44. Compensating the Tracking-Error of a Mobile Robot by On-Line Tuning of a Neural Network 282
1. INTRODUCTION 282
2. ANALYSIS AND COMPUTATION OF TRAJECTORY TRACKING ERRORS 283
3. THE NEURAL NETWORK CONTROLLER 284
CONCLUSIONS 287
ACKNOWLEDGEMENTS 287
REFERENCES 287
Chapter 45."Programming" by Teaching: Neural Network Control in the Manchester Mobile Robot 288
1 INTRODUCTION 288
2 THE ROBOT 289
3 THE CONTROL SYSTEM 289
4 SONAR AND INFRARED SENSORS FOR ROBOT CONTROL 289
5 USING COMPUTER VISION FOR ROBOT CONTROL 290
6 SUMMARY AND CONCLUSION 292
References 293
Chapter 46. Road Direction Detection Based on Gabor Filters and Neural Networks 294
1. INTRODUCTION 294
2. ROAD DIRECTION DETECTION SYSTEM 295
3. EXPERIMENTAL RESULTS 297
4. CONCLUSION 298
5. REFERENCES 299
PART XIV: APPLICATIONS 300
Chapter 47. Robots for Anti-Personnel Mine Search 300
1 INTRODUCTION 300
2 MINE TECHNOLOGY AND DETECTION 301
3 ROBOT DESIGN 301
4 CONCLUSION 304
5 REFERENCES 304
Chapter 48. Navigation System for LHD Machines 306
1.0 INTRODUCTION 306
2. CONTROL SYSTEM FOR AN AUTONOMOUS LHD MACHINE 307
3.0 CONTROL SYSTEM OF THE VEHICLE 310
4.0 TEST RESULTS 310
5.0 CONCLUSIONS 311
REFERENCES 311
Chapter 49. An Autonomous Plastering Robot for Walls and Ceilings 312
1. INTRODUCTION 312
2. ROBOT DESCRIPTION 312
3. NAVIGATION AND MAPPING 314
4. EXPERIMENTAL EVALUATION 315
5. CONCLUSIONS AND FUTURE WORK 317
6. ACKNOWLEDGEMENTS 317
7. REFERENCES 317
Chapter 50. Reliability and Safety for Mobile Robots in Hostile Environment 318
1. INTRODUCTION 318
2. ASSESSMENT OF RELIABILITY AND SAFETY 319
3. EXAMPLES FOR OPTIMISING RELIABILITY AND SAFETY 320
4. SUMMARY AND CONCLUSION 322
REFERENCES 322
PART XV: ENVIRONMENT PERCEPTION TECHNIQUES 324
Chapter 51. Dynamic Environment's Range Data Analysis by a Moving Observer 324
1. INTRODUCTION 324
2. STATEMENT OF THE PROBLEM 325
3. FRAMEWORK OF THE ANALYSIS OF THE DYNAMIC SCENES 325
4. PROPOSED SOLUTION FOR FINDING ALL OBJECTS' MOTION PARAMETERS 327
5. CONCLUSIONS 328
6. ACKNOWLEDGEMENTS 328
REFERENCES 328
Chapter 52. Motion and Structure from Significant Segments in Man Made Environments 330
1. INTRODUCTION 330
2. EXTRACTION AND RECTIFICATION OF SEGMENTS 330
3. MATCHING AND ASSOCIATION OF SEGMENTS 331
4. MOTION AND STRUCTURE DETERMINATION 332
5. EXPERIMENTAL RESULTS 334
6. CONCLUSIONS AND FUTURE WORK 335
APPENDIX 335
7. REFERENCES 335
Chapter 53. Smart Servoing of a Controllable Range Sensor for Target Tracking: Application to Pedestrians 336
1. INTRODUCTION 336
2. 3D-SENSOR 336
3. TRACKING SYSTEM 337
4. TARGET RECOGNITION 337
5. TRACKING FILTER EQUATIONS 338
6. EXPERIMENTAL RESULTS 340
7. CONCLUSION 341
8. REFERENCES 341
Chapter 54. Millimetre Wave Radar for Close Terrain Mapping of an Intelligent Autonomous Vehicle 342
1. INTRODUCTION 342
2. MILLIMETER WAVE RADAR 343
3. RADAR SYSTEM 345
4. RADAR PERFORMANCE 345
5. SCANNING TESTS 346
6. CONCLUSION 347
REFERENCES 347
PART XVI: MULTIROBOT SYSTEMS 348
Chapter 55. Motion Control of Family Mobile Robots with Hierarchical Cooperative Behavior 348
1. INTRODUCTION 348
2. The STRUCTURE OF THE SYSTEM 349
3. PARENT-CHILDREN, LEADER-FOLLOWER TYPE ROBOT SYSTEM 349
4. NAVIGATION FUNCTION 350
5. SIMULATION 351
6. CONCLUSION 351
REFERECES 351
Chapter 56. Coordination of Mobile Robots by Estimating Relative Spatial and Temporal Uncertainties 354
1. INTRODUCTION 354
2. MODELLING OF ROBOTS IN SPACE-TIME 355
3. ROBOT COORDINATION IN SPACE-TIME 356
4. SIMULATION AND EXPERIMENTS 358
5. CONCLUSION 359
6. ACKNOWLEDGEMENT 359
REFERENCES 359
Chapter 57. An Intelligent Data Carrier System for Local Communication Between Cooperative Multiple Mobile Robots and Environment 360
1. INTRODUCTION 360
2. COMMUNICATION STRATEGY 361
3. THE STRUCTURE OF THE IDC DEVICES 362
4. APPLICATION EXAMPLE 364
5. CONCLUSIONS 364
6. ACKNOWLEDGEMENTS 365
7. REFERENCES 365
Chapter 58. Evolving of a Fitness Based Operation Strategy for a Robot Society 366
1. INTRODUCTION 366
2. ROBOT SOCIETY 367
3. TASK FORMULATION 368
4. SIMULATION RESULTS 370
5. CONCLUSIONS AND SOME POSSIBLE FUTURE REALIZATIONS 371
REFERENCES 371
PART XVII: MAN-MACHINE SYSTEMS 372
Chapter 59. Robotics Control Station: From Teleoperation up to Mission Preparation 372
1. INTRODUCTION 373
2. AUTOMATION : THE LIMITS 373
3. VEHICLE AUTONOMY 373
4. RCS : FUNCTIONAL DESCRIPTION 376
5. CONCLUSIONS 379
REFERENCES 379
Chapter 60. PILOT: A Language for Planning Mission 380
1. INTRODUCTION 380
2. THE PILOT LANGUAGE 380
3. THE CONTROL SYSTEM 382
4. EXAMPLE OF MISSION: DETECTION OF LINE 383
5. CONCLUSION 384
6. REFERENCES 384
Chapter 61. Telecommands for Remotely Operated Vehicles 386
1. INTRODUCTION 386
2. VIDEO IMAGES AND 3D LADAR WITH AMPLITUDE 388
3. INTERNET EXPERIMENTS 389
4. CONCLUSIONS 391
REFERENCES 391
PART XVIII: ROAD VEHICLES AUTOMATION 392
Chapter 62. Methodical Structuring of Knowledge used in an Intelligent Driving System 392
1. INTRODUCTION 392
2. SOME REMARKS ON VaMoRs-P 392
3. THE KNOWLEDGE-ORIENTED VIEW 393
4. KNOWLEDGE RELEVANT FOR AMV 394
5. PROCESSING OF KNOWLEDGE PACKAGES 394
6. LESSONS OF OTHER DISCIPLINES 395
7. SOME FURTHER TASKS 396
8. CONCLUSION 397
REFERENCES 397
Chapter 63. Deciding the Behaviour of an Autonomous Mobile Road Vehicle 398
1. INTRODUCTION 398
2. MODULE BEHAVIOUR DECISION 398
3. EXPERIMENTAL RESULTS 402
4. CONCLUSION 403
REFERENCES 403
Chapter 64. An Obstacle Avoidance Demonstrator: A Dedicated LAN System for Automotive Real-Time Applications (French Prometheus Pro-Chip Project) 404
1. INTRODUCTION 404
2. THE SYSTEM SIGNIFICANT CONSTRAINTS AND THE GLOBAL SYSTEM ARCHITECTURE 405
3. THE DEDICATED LAN FOR AUTOMOTIVE CARS 406
4. CONCLUSION 408
REFERENCES 408
Chapter 65. A Real-Time On-Board System for Driver Assistance 410
1 Introduction 410
2 The Driver Assistance System 410
3. Management ment Data of the Environ- 411
4 The Supervisor 411
5 Software and hardware architecture 414
6 Conclusions and Perspectives 414
References 415
Author Index 416

Produkt-Details

• Erscheint lt. Verlag: 23.5.2014
• Sprache: englisch
• Themenwelt: Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik
• Themenwelt: Technik ► Bauwesen
• ISBN-10: 1-4832-9686-5 / 1483296865
• ISBN-13: 978-1-4832-9686-9 / 9781483296869