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Docking of Autonomous Vehicles: A Comparison of Model-Independent Guidance M... - Pg. 399

Intelligent Production Machines and Systems D. T. Pham, E. E. Eldukhri and A. J. Soroka (eds) © 2005 Elsevier Ltd. All rights reserved Docking of Autonomous Vehicles: A Comparison of Model- Independent Guidance Methods G. Nejat and B. Benhabib Computer Integrated Manufacturing Laboratory Department of Mechanical and Industrial Engineering University of Toronto, 5 King's College Road, Toronto, Ontario, Canada M5S 3G8 Abstract In this Paper, two generic Line-of-Sight (LOS) sensing-based short-range guidance methodologies are presented for the docking of autonomous vehicles. The first method utilizes a passive LOS sensing scheme to provide vehicle corrective motions, while the latter method utilizes active sensing. The novelty of the proposed guidance methodologies is their applicability to situations that do not allow for direct proximity measurements of the vehicle. The objective of both proposed guidance methods is, thus, to successfully minimize the systematic errors of the vehicle, while allowing it to converge to its desired pose within random noise limits. Both techniques were successfully tested via simulations and are discussed herein in terms of convergence rate and accuracy, in addition to the types of localization problems that each method should be used in. 1. Introduction All abovementioned methods, however, rely on