Autonomous Vehicle Navigation: From Behavioral to Hybrid Multi-Controller Architectures, 1st Edition (Hardback) book cover

Autonomous Vehicle Navigation

From Behavioral to Hybrid Multi-Controller Architectures, 1st Edition

By Lounis Adouane

A K Peters/CRC Press

228 pages | 16 Color Illus. | 111 B/W Illus.

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Description

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.

Table of Contents

Global concepts/challenges related to the control of intelligent mobile robots

AUTONOMOUS/INTELLIGENT MOBILE ROBOTS

OVERVIEW OF THE CHALLENGES RELATED TO FULLY AUTONOMOUS NAVIGATION

MAIN BACKGROUNDS AND PARADIGMS

FROM BEHAVIORAL TO MULTI-CONTROLLER ARCHITECTURES

NAVIGATION BASED ON TRAJECTORY OR TARGET SET-POINTS

CONCLUSION

Autonomous navigation in cluttered environments

OVERALL NAVIGATION FRAMEWORK DEFINITION

SAFE OBSTACLE AVOIDANCE AS AN IMPORTANT COMPONENT FOR AUTONOMOUS NAVIGATION

OBSTACLE AVOIDANCE BASED ON PARALLEL ELLIPTIC LIMIT-CYCLE (PELC)

HOMOGENEOUS SET-POINTS DEFINITION FOR ROBOT’S NAVIGATION SUB-TASKS

MULTI-CONTROLLER ARCHITECTURES FOR FULLY REACTIVE NAVIGATION

CONCLUSION

HybridCD (continuous/discrete) multi-controller architectures

INTRODUCTION

ELEMENTARY STABLE CONTROLLERS FOR TARGETS REACHING/TRACKING

PROPOSED HYBRIDCD CONTROL ARCHITECTURES

CONCLUSION

HybridRC (reactive/cognitive) and homogeneous control architecture based on PELC

HYBRIDRC CONTROL ARCHITECTURES

OVERVIEW OF DEVELOPED PLANNING METHODS

OPTIMAL PATH GENERATION BASED ON PELC

HOMOGENEOUS AND HYBRIDRC CONTROL ARCHITECTURE

CONCLUSION

Flexible and reliable autonomous vehicle navigation using optimal waypoint configuration

MOTIVATIONS AND PROBLEM STATEMENT

STRATEGY OF NAVIGATION BASED ON SEQUENTIAL TARGET REACHING

CONTROL ASPECTS

WAYPOINT CONFIGURATION ASPECTS

EXPERIMENTAL VALIDATIONS

CONCLUSION

Cooperative control of multi-robot systems

INTRODUCTION

OVERVIEW OF ADDRESSED MULTI-ROBOT SYSTEMS/TASKS

DYNAMIC MULTI-ROBOT NAVIGATION IN FORMATION

CONCLUSION

General conclusion and prospects

GENERAL CONCLUSION

PROSPECTS

Appendix A: Simulation and experimental platforms

Appendix B: Stability in the sense of Lyapunov

About the Author

Author

Lounis Adouane is an associate professor at the Institut Pascal - Polytech Clermont-Ferrand in France. He received an MS in 2001 from IRCCyN-ECN Nantes, where he worked on the control of legged mobile robotics. In 2005, he obtained a PhD in automatic control from FEMTO-ST laboratory-UFC Besançon. During his PhD studies, he deeply investigated the field of multi-robot systems, especially those related to bottom-up and hybrid control architectures. Dr. Adouane’s current research topics are related to both autonomous navigation of mobile robots in complex environments and cooperative control architectures for multi-robot systems. More specifically, his main research include planning and control, hybrid multi-controller architectures, obstacle avoidance, cooperative robotics, artificial intelligence (such as Markov decision process, multi-agent systems, and fuzzy logic), and multi-robot/agent simulation. He is the author/coauthor of more than 60 refereed international papers on these topics.

Subject Categories

BISAC Subject Codes/Headings:
COM012040
COMPUTERS / Programming / Games
COM037000
COMPUTERS / Machine Theory
TEC007000
TECHNOLOGY & ENGINEERING / Electrical
TEC037000
TECHNOLOGY & ENGINEERING / Robotics