Abstract
Some practical applications have a specific working environment that remains almost unchanged over time, and do not allow installation of localization hardware. In such applications, a good choice is to generate the map of the environment in advance and localize vehicles by matching this map afterwards. This chapter will consider vehicle fleet maneuvering in such scenarios. In addition, a more important issue, collision avoidance, will be discussed as well. To address this issue, this chapter introduces a multi-objective resolution strategy, which prioritizes different objectives in different situations. Real UGV experiments have been conducted to validate the effectiveness of the proposed approach.
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Wang, Y., Wang, D. (2023). Map-Based Virtual-Structure Fleet Maneuvering in Cluttered Environments. In: Collaborative Fleet Maneuvering for Multiple Autonomous Vehicle Systems. Springer Tracts in Advanced Robotics, vol 150. Springer, Singapore. https://doi.org/10.1007/978-981-19-5798-7_4
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DOI: https://doi.org/10.1007/978-981-19-5798-7_4
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