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Automation of Mobility and Navigation

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Springer Handbook of Automation

Part of the book series: Springer Handbooks ((SHB))

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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Author information

Authors and Affiliations

  1. Departamento de Ingeniería de Sistemas y Automática, Universidad de Sevilla, Camino de los Descubrimientos, 41092, Sevilla, Spain

    Anibal Ollero Prof

  2. Departamento de Ingeniería de Sistemas y Automática, Universidad de Sevilla, Camino de los Descubrimientos, 41092, Sevilla, Spain

    Ángel R. Castaño PhD

Authors
  1. Anibal Ollero Prof
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  2. Ángel R. Castaño PhD
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Corresponding authors

Correspondence to Anibal Ollero Prof or Ángel R. Castaño PhD .

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Editors and Affiliations

  1. PRISM Center, and School of Industrial Engineering, Purdue University, 315 N. Grant Street, 47907, West Lafayette, IN, USA

    Shimon Y. Nof

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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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  • DOI: https://doi.org/10.1007/978-3-540-78831-7_16

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