Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles PDF
Preview Sensing and Control for Autonomous Vehicles: Applications to Land, Water and Air Vehicles
Lecture Notes in Control and Information Sciences 474 Thor I. Fossen Kristin Y. Pettersen Henk Nijmeijer E ditors Sensing and Control for Autonomous Vehicles Applications to Land, Water and Air Vehicles Lecture Notes in Control and Information Sciences Volume 474 Series editors Frank Allgöwer, Stuttgart, Germany Manfred Morari, Zürich, Switzerland Series Advisory Boards P. Fleming, University of Sheffield, UK P. Kokotovic, University of California, Santa Barbara, CA, USA A.B. Kurzhanski, Moscow State University, Russia H. Kwakernaak, University of Twente, Enschede, The Netherlands A. Rantzer, Lund Institute of Technology, Sweden J.N. Tsitsiklis, MIT, Cambridge, MA, USA About this Series Thisseriesaimstoreportnewdevelopmentsinthefieldsofcontrolandinformation sciences—quickly, informally and at a high level. The type of material considered for publication includes: 1. Preliminary drafts of monographs and advanced textbooks 2. Lectures on a new field, or presenting a new angle on a classical field 3. Research reports 4. Reports of meetings, provided they are (a) of exceptional interest and (b) devoted to a specific topic. The timeliness of subject material is very important. More information about this series at http://www.springer.com/series/642 Thor I. Fossen Kristin Y. Pettersen (cid:129) Henk Nijmeijer Editors Sensing and Control for Autonomous Vehicles Applications to Land, Water and Air Vehicles 123 Editors ThorI. Fossen Henk Nijmeijer NorwegianUniversity of Scienceand Eindhoven University of Technology (TuE) Technology(NTNU) Eindhoven Trondheim TheNetherlands Norway Kristin Y.Pettersen NorwegianUniversity of Scienceand Technology(NTNU) Trondheim Norway ISSN 0170-8643 ISSN 1610-7411 (electronic) Lecture Notesin Control andInformation Sciences ISBN978-3-319-55371-9 ISBN978-3-319-55372-6 (eBook) DOI 10.1007/978-3-319-55372-6 LibraryofCongressControlNumber:2017934064 ©SpringerInternationalPublishingAG2017 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission orinformationstorageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilar methodologynowknownorhereafterdeveloped. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publicationdoesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfrom therelevantprotectivelawsandregulationsandthereforefreeforgeneraluse. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authorsortheeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinor for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictionalclaimsinpublishedmapsandinstitutionalaffiliations. Printedonacid-freepaper ThisSpringerimprintispublishedbySpringerNature TheregisteredcompanyisSpringerInternationalPublishingAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland Preface Sensing and Control for Autonomous Vehicles: Applications to Land, Water and AirVehiclescontainsacollectionofcontributionspresentedataninvitedworkshop with the same name held June 20–22, 2017 in Ålesund, Norway. The subjectof the book issensing and controlwithapplications toautonomous vehicles.Guidance,navigationandmotioncontrolsystemsforautonomousvehicles areincreasinglyimportantinland-based,marineandaerialoperations.Autonomous underwater vehicles may be used for pipeline inspection, light-intervention work, underwater survey, and collection of oceanographic/biological data. Autonomous aerial and ground vehicles can be used in a large number of applications such as inspection,monitoring,datacollection,surveillance,etc.Atpresent,vehiclesoperate withlimitedautonomyandintelligence.Thereisagrowinginterestforcooperative and coordinated multi-vehicle systems, localization and mapping, path planning, robustautonomousnavigationsystems,androbustautonomouscontrolofvehicles. Unmannedvehicleswithhighlevelsofautonomymaybeusedforsafeandefficient collection of environmental data, for assimilation of climate and environmental modelsand tocomplement global satellitesystems. With an appropriate balance between mathematical theory and practical appli- cations, academic and industrial researchers working on sensing and control engineering aspects of autonomous vehicles will benefit from this comprehensive book. It is also suitable for final year undergraduates and postgraduates, lecturers, development officers, and practitioners in the areas of guidance, navigation and control of autonomous vehicles. v vi Preface Acknowledgements We are grateful to our sponsors: (cid:129) CenterforAutonomousMarineOperationsandSystems(NTNUAMOS)atthe Norwegian University of Science and Technology, Trondheim, Norway (Norwegian Research Council grant no. 223254). (cid:129) Rolls-Royce Marine, Alesund, Norway Trondheim, Norway Thor I. Fossen Trondheim, Norway Kristin Y. Pettersen Eindhoven, The Netherlands Henk Nijmeijer Contents Part I Vehicle Navigation Systems Observers for Position Estimation Using Bearing and Biased Velocity Information.... .... ..... .... .... .... .... .... ..... .... 3 Florent Le Bras, Tarek Hamel, Robert Mahony and Claude Samson Nonlinear Camera- and GNSS-Aided INS for Fixed-Wing UAV Using the eXogenous Kalman Filter .... .... .... .... .... ..... .... 25 Lorenzo Fusini, Thor I. Fossen and Tor Arne Johansen Motion Control of ROVs for Mapping of Steep Underwater Walls.. .... .... ..... .... .... .... .... .... ..... .... 51 Stein M. Nornes, Asgeir J. Sørensen and Martin Ludvigsen Part II Localization and Mapping Underwater 3D Laser Scanners: The Deformation of the Plane... .... 73 Albert Palomer, Pere Ridao, David Ribas and Josep Forest Advances in Platforms and Algorithms for High Resolution Mapping in the Marine Environment ... .... .... .... .... ..... .... 89 R. Thomas Sayre-McCord, Chris Murphy, Jeffrey Kaeli, Clayton Kunz, Peter Kimball and Hanumant Singh New Design Techniques for Globally Convergent Simultaneous Localization and Mapping: Analysis and Implementation... ..... .... 121 Pedro Lourenço, Bruno Guerreiro, Pedro Batista, Paulo Oliveira and Carlos Silvestre Pose-Graph SLAM for Underwater Navigation ... .... .... ..... .... 143 Stephen M. Chaves, Enric Galceran, Paul Ozog, Jeffrey M. Walls and Ryan M. Eustice vii viii Contents Exploring New Localization Applications Using a Smartphone.... .... 161 Fredrik Gustafsson and Gustaf Hendeby Part III Path Planning Model-Based Path Planning.. ..... .... .... .... .... .... ..... .... 183 Artur Wolek and Craig A. Woolsey Constrained Optimal Motion Planning for Autonomous Vehicles Using PRONTO .... ..... .... .... .... .... .... ..... .... 207 A. Pedro Aguiar, Florian A. Bayer, John Hauser, Andreas J. Häusler, Giuseppe Notarstefano, Antonio M. Pascoal, Alessandro Rucco and Alessandro Saccon Part IV Sensing and Tracking Systems Observability-Based Sensor Sampling... .... .... .... .... ..... .... 229 Kristi A. Morgansen and Natalie Brace Tracking Multiple Ground Objects Using a Team of Unmanned Air Vehicles... .... .... .... ..... .... .... .... .... .... ..... .... 249 Joshua Y. Sakamaki, Randal W. Beard and Michael Rice A Target Tracking System for ASV Collision Avoidance Based on the PDAF . .... .... .... ..... .... .... .... .... .... ..... .... 269 Erik F. Wilthil, Andreas L. Flåten and Edmund F. Brekke Detection and Tracking of Floating Objects Using a UAV with Thermal Camera . .... ..... .... .... .... .... .... ..... .... 289 Håkon Hagen Helgesen, Frederik Stendahl Leira, Tor Arne Johansen and Thor I. Fossen Part V Identification and Motion Control of Robotic Vehicles Experimental Identification of Three Degree-of-Freedom Coupled Dynamic Plant Models for Underwater Vehicles .. .... .... ..... .... 319 Stephen C. Martin and Louis L. Whitcomb Model-Based LOS Path-Following Control of Planar Underwater Snake Robots.. .... .... .... ..... .... .... .... .... .... ..... .... 343 Anna M. Kohl, Eleni Kelasidi, Kristin Y. Pettersen and Jan Tommy Gravdahl Robotized Underwater Interventions.... .... .... .... .... ..... .... 365 Giuseppe Casalino, Enrico Simetti and Francesco Wanderlingh Contents ix Adaptive Training of Neural Networks for Control of Autonomous Mobile Robots. .... .... .... ..... .... .... .... .... .... ..... .... 387 Erik Steur, Thijs Vromen and Henk Nijmeijer Modeling, Identification and Control of High-Speed ASVs: Theory and Experiments... .... .... ..... .... .... .... .... .... ..... .... 407 Bjørn-Olav Holtung Eriksen and Morten Breivik Part VI Coordinated and Cooperative Control of Multi-vehicle Systems From Cooperative to Autonomous Vehicles .. .... .... .... ..... .... 435 Tom van der Sande and Henk Nijmeijer Coordination of Multi-agent Systems with Intermittent Access to a Cloud Repository... .... ..... .... .... .... .... .... ..... .... 453 Antonio Adaldo, Davide Liuzza, Dimos V. Dimarogonas and Karl H. Johansson A Sampled-Data Model Predictive Framework for Cooperative Path Following of Multiple Robotic Vehicles . .... .... .... ..... .... 473 A. Pedro Aguiar, Alessandro Rucco and Andrea Alessandretti Coordinated Control of Mobile Robots with Delay Compensation Based on Synchronization ... ..... .... .... .... .... .... ..... .... 495 Yiran Cao and Toshiki Oguchi Index .... .... .... .... .... ..... .... .... .... .... .... ..... .... 515
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