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Sensing and Control for Autonomous Vehicles

Applications to Land, Water and Air Vehicles

  • Book
  • © 2017

Overview

Editors:
  1. Thor I. Fossen

    1. Norwegian University of Science and Technology (NTNU), Trondheim, Norway

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  2. Kristin Y. Pettersen

    1. Norwegian University of Science and Technology (NTNU), Trondheim, Norway

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    You can also search for this editor in PubMed   Google Scholar

  3. Henk Nijmeijer

    1. Eindhoven University of Technology (TuE), Eindhoven, The Netherlands

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  • Presents recent trends in the field of autonomous control systems
  • Focuses on applications to land, water and aerial vehicles
  • Fills a gap in the literature by addressing autonomous guidance, navigation and control (GNC) systems
  • Includes supplementary material: sn.pub/extras

Part of the book series: Lecture Notes in Control and Information Sciences (LNCIS, volume 474)

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Table of contents (24 chapters)

  1. Front Matter

    Pages i-ix
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  2. Vehicle Navigation Systems

    1. Front Matter

      Pages 1-1
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    2. Observers for Position Estimation Using Bearing and Biased Velocity Information

      • Florent Le Bras, Tarek Hamel, Robert Mahony, Claude Samson
      Pages 3-23

    3. Nonlinear Camera- and GNSS-Aided INS for Fixed-Wing UAV Using the eXogenous Kalman Filter

      • Lorenzo Fusini, Thor I. Fossen, Tor Arne Johansen
      Pages 25-50

    4. Motion Control of ROVs for Mapping of Steep Underwater Walls

      • Stein M. Nornes, Asgeir J. Sørensen, Martin Ludvigsen
      Pages 51-69

  3. Localization and Mapping

    1. Front Matter

      Pages 71-71
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    2. Underwater 3D Laser Scanners: The Deformation of the Plane

      • Albert Palomer, Pere Ridao, David Ribas, Josep Forest
      Pages 73-88

    3. Advances in Platforms and Algorithms for High Resolution Mapping in the Marine Environment

      • R. Thomas Sayre-McCord, Chris Murphy, Jeffrey Kaeli, Clayton Kunz, Peter Kimball, Hanumant Singh
      Pages 89-119

    4. New Design Techniques for Globally Convergent Simultaneous Localization and Mapping: Analysis and Implementation

      • Pedro Lourenço, Bruno Guerreiro, Pedro Batista, Paulo Oliveira, Carlos Silvestre
      Pages 121-141

    5. Pose-Graph SLAM for Underwater Navigation

      • Stephen M. Chaves, Enric Galceran, Paul Ozog, Jeffrey M. Walls, Ryan M. Eustice
      Pages 143-160

    6. Exploring New Localization Applications Using a Smartphone

      • Fredrik Gustafsson, Gustaf Hendeby
      Pages 161-179

  4. Path Planning

    1. Front Matter

      Pages 181-181
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    2. Model-Based Path Planning

      • Artur Wolek, Craig A. Woolsey
      Pages 183-206

    3. Constrained Optimal Motion Planning for Autonomous Vehicles Using PRONTO

      • A. Pedro Aguiar, Florian A. Bayer, John Hauser, Andreas J. Häusler, Giuseppe Notarstefano, Antonio M. Pascoal et al.
      Pages 207-226

  5. Sensing and Tracking Systems

    1. Front Matter

      Pages 227-227
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    2. Observability-Based Sensor Sampling

      • Kristi A. Morgansen, Natalie Brace
      Pages 229-248

    3. Tracking Multiple Ground Objects Using a Team of Unmanned Air Vehicles

      • Joshua Y. Sakamaki, Randal W. Beard, Michael Rice
      Pages 249-268

    4. A Target Tracking System for ASV Collision Avoidance Based on the PDAF

      • Erik F. Wilthil, Andreas L. Flåten, Edmund F. Brekke
      Pages 269-288

    5. Detection and Tracking of Floating Objects Using a UAV with Thermal Camera

      • Håkon Hagen Helgesen, Frederik Stendahl Leira, Tor Arne Johansen, Thor I. Fossen
      Pages 289-316

  6. Identification and Motion Control of Robotic Vehicles

    1. Front Matter

      Pages 317-317
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Keywords

About this book

This edited volume includes thoroughly collected on sensing and control for autonomous vehicles. 
Guidance, navigation and motion control systems for autonomous vehicles are increasingly important in land-based, marine and aerial operations. Autonomous underwater vehicles may be used for pipeline inspection, light intervention work, underwater survey and collection of oceanographic/biological data. Autonomous unmanned aerial systems can be used in a large number of applications such as inspection, monitoring, data collection, surveillance, etc. At present, vehicles operate with limited autonomy and a minimum of intelligence. There is a growing interest for cooperative and coordinated multi-vehicle systems, real-time re-planning, robust autonomous navigation systems and robust autonomous control of vehicles. Unmanned vehicles with high levels of autonomy may be used for safe and efficient collection of environmental data, for assimilation of climate and environmental models and to complement global satellite systems. The target audience primarily comprises research experts in the field of control theory, but the book may also be beneficial for graduate students. 

Reviews

“This is a well-produced, comprehensive compilation of research articles on control theory and sensors for autonomous vehicle systems. Much of the content focuses on theory and/or literature survey, with some examples of recent experimental results. … there are some novel ideas in Sensing and Control for Autonomous Vehicles that will capture the imagination of any underwater technology enthusiast.” (Ron Lewis, Underwater Technology, Vol. 35 (2), 2018)

Editors and Affiliations

  • Norwegian University of Science and Technology (NTNU), Trondheim, Norway

    Thor I. Fossen, Kristin Y. Pettersen

  • Eindhoven University of Technology (TuE), Eindhoven, The Netherlands

    Henk Nijmeijer

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