NDLI: Modelless Guidance for the Docking of Autonomous Vehicles

Content Provider	IEEE Xplore Digital Library
Author	Nejat, G. Benhabib, B.
Copyright Year	2004
Abstract	A novel line-of-sight sensing-based modelless guidance strategy is presented for the autonomous docking of robotic vehicles. The novelty of the proposed guidance strategy is twofold: 1) applicability to situations that do not allow for direct proximity measurement of the vehicle and 2) ability to generate short-range docking motion commands without a need for a global sensing-system (calibration) model. Two guidance -based motion-planning methods were developed to provide the vehicle controller with online corrective motion commands: a passive-sensing-based and an active-sensing-based scheme, respectively. The objective of both proposed guidance methods is to minimize the accumulated systematic errors of the vehicle as a result of the long-range travel, while allowing it to converge to its desired pose within random-noise limits. Both techniques were successfully tested via simulations and experiments, and are discussed herein, in terms of convergence rate and accuracy, in addition to the types of localization problems for which each method could be specifically more suitable.
Sponsorship	IEEE Robotics and Automation Society
Starting Page	753
Ending Page	762
Page Count	10
File Size	1164138
File Format	PDF
ISSN	15523098
Volume Number	23
Issue Number	4
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-08-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Remotely operated vehicles Mobile robots Robot sensing systems Motion measurement Calibration Motion-planning Motion control Testing Convergence precision localization Docking gradient descent line-of-sight guidance
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Active Task-Space Sensing and Localization of Autonomous Vehicles

Localization of Autonomous Robotic Vehicles Using A Neural-Network Approach

Continuous guidance for the docking of autonomous vehicles using active task-space sensing

Autonomous Mobile Robots Controlled by Navigation Functions

Line-of-sight task-space sensing for the localization of autonomous mobile devices

Unmanned autonomous vehicle control & SLAM problem in 2-D environment

An autonomous vehicle for surface filling

Mobile Robots Real-Time Intelligent Control

Autonomous Navigation, Exploration, and Recognition Using the HERMIES-IIB Robot

Modelless Guidance for the Docking of Autonomous Vehicles

Similar Documents

Active Task-Space Sensing and Localization of Autonomous Vehicles

Localization of Autonomous Robotic Vehicles Using A Neural-Network Approach

Continuous guidance for the docking of autonomous vehicles using active task-space sensing

Autonomous Mobile Robots Controlled by Navigation Functions

Line-of-sight task-space sensing for the localization of autonomous mobile devices

Unmanned autonomous vehicle control & SLAM problem in 2-D environment

An autonomous vehicle for surface filling

Mobile Robots Real-Time Intelligent Control

Autonomous Navigation, Exploration, and Recognition Using the HERMIES-IIB Robot

Modelless Guidance for the Docking of Autonomous Vehicles