喬維高，徐學進

高被引論文摘要

被引頻次：103

無人駕駛汽車的發(fā)展現(xiàn)狀及方向

喬維高，徐學進

無人駕駛汽車大大提高了交通系統(tǒng)效率和安全性，是未來汽車發(fā)展的一個方向。首先介紹了國內(nèi)外無人駕駛汽車的發(fā)展現(xiàn)狀，并簡單討論了相關的關鍵技術，最后闡述了無人駕駛汽車領域的發(fā)展方向。

無人駕駛汽車；關鍵技術；發(fā)展

來源出版物：上海汽車, 2007 (7): 40-43

被引頻次：58

智能車輛機器視覺發(fā)展近況

徐友春，李克強，連小珉，等

摘要：簡要回顧了機器視覺的早期發(fā)展，從簡單的特定場合應用到模擬人眼的復雜系統(tǒng)設計，介紹了機器視覺產(chǎn)品在智能汽車上的應用情況，分析了世界各國在車用機器視覺技術領域研究開發(fā)情況以及未來發(fā)展趨勢。

關鍵詞：智能車輛；機器視覺；發(fā)展

來源出版物：汽車工程, 2003, 25(5): 438-443

被引頻次：52

無人駕駛汽車的發(fā)展現(xiàn)狀和展望

楊帆

摘要：分析了當前全球無人駕駛汽車的技術現(xiàn)狀及所面臨的產(chǎn)業(yè)化瓶頸。介紹了整車和IT企業(yè)無人駕駛汽車的發(fā)展路線，并對其產(chǎn)業(yè)化未來做了展望。

關鍵詞：無人駕駛；技術路線；法律法規(guī)

來源出版物：上海汽車, 2014 (3): 35-40

被引頻次：41

全自動無人駕駛系統(tǒng)——全新理念的城市軌道交通模式

王曰凡

摘要：介紹了全自動無人駕駛系統(tǒng)的現(xiàn)狀、優(yōu)越性，分析了無人駕駛系統(tǒng)與傳統(tǒng)的城市軌道交通系統(tǒng)的差異，總結了全自動無人駕駛系統(tǒng)的特點，提出了需要研究的主要技術。全自動無人駕駛系統(tǒng)是科學技術發(fā)展的產(chǎn)物，是成熟、可靠、安全的系統(tǒng)，適用于小編組、高密度、中小運量直至大運量的城市軌道交通系統(tǒng)。全自動無人駕駛系統(tǒng)是城市軌道交通系統(tǒng)集成技術的一次質(zhì)的飛躍，它將引導現(xiàn)代城市軌道交通的發(fā)展趨勢。

關鍵詞：城市軌道交通；新交通系統(tǒng)；無人駕駛

來源出版物：城市軌道交通研究, 2006, 9(8): 1-5

被引頻次：30

基于模糊控制的智能車輛自主行駛方法研究

熊波，曲仕茹

摘要：車輛無人駕駛是智能交通系統(tǒng)的一個重要部分，其目標是開發(fā)在高速公路和城市道路環(huán)境下的輔助駕駛系統(tǒng)，旨在幫助乃至取代駕駛員，實現(xiàn)車輛自動控制和自動駕駛，減少交通事故發(fā)生，提高道路交通系統(tǒng)的效率，因此提出了一種基于機器視覺和模糊控制實現(xiàn)智能車輛自主行駛的方法。該方法以CMOS攝像頭為路徑識別傳感器，通過圖像分析提取車道中心線，并引入速度反饋，形成閉環(huán)控制，建立一個由兩個模糊控制器組成的分級模糊控制器控制車輛轉(zhuǎn)向，并使用模糊控制代替?zhèn)鹘y(tǒng)的PID速度控制來控制速度。和常規(guī)的PID算法及模糊控制算法相比，改進的模糊控制算法使智能車在道路上更快速、平穩(wěn)地運行，并且在轉(zhuǎn)彎處的超調(diào)更小。

關鍵詞：智能交通；智能車；自動駕駛；模糊控制；視覺導航

來源出版物：交通運輸系統(tǒng)工程與信息, 2009, 10(2): 70-75

被引頻次：27

基于激光雷達的無人駕駛車前方障礙物檢測

趙一兵，王榮本，李琳輝，等

摘要：無人駕駛車在越野條件下的環(huán)境感知技術是其實現(xiàn)自主導航功能的難題。由于越野環(huán)境復雜，障礙物種類繁多，對智能車周圍環(huán)境的探測更是難上加難。選擇越野環(huán)境下幾種典型的障礙物作為檢測目標，采用基于激光雷達面掃描的方法獲取無人駕駛車前方路面圖像信息，根據(jù)障礙物對于激光數(shù)據(jù)的不同特征，檢測無人駕駛車前方靜止的障礙物，主要包括水塘、石頭或陡坡以及樹木等。利用激光可直接測得障礙物距離數(shù)據(jù)的優(yōu)勢，基于投影變換原理進而求得障礙物的長、寬或高等三維信息。

關鍵詞：環(huán)境感知；無人駕駛車；激光雷達

來源出版物：交通與計算機, 2007, 25 (2): 9-13

被引頻次：25

無人駕駛汽車的先進技術與發(fā)展

端木慶玲，阮界望，馬鈞

摘要：作為未來汽車的發(fā)展方向，無人駕駛汽車已經(jīng)得到社會各方面的關注。本文介紹了國內(nèi)外無人駕駛汽車的發(fā)展歷程，對當前無人駕駛汽車的發(fā)展階段與先進技術進行了分析，最后針對物聯(lián)網(wǎng)對無人駕駛汽車發(fā)展的影響做出了推斷。

關鍵詞：無人駕駛；先進技術；車聯(lián)網(wǎng)

來源出版物：農(nóng)業(yè)裝備與車輛工程, 2014, 52(3): 30-33

被引頻次：23

無人駕駛汽車的研究現(xiàn)狀及發(fā)展方向

閆民

摘要：無人駕駛技術是集自動控制理論、人工智能理論、視覺計算理論、體系結構理論、程序設計技術、機構控制技術、組合導航技術、傳感器技術、信息融合技術、機械設計制造技術等多種理論及技術于一體的多學科、多行業(yè)綜合技術，該技術不僅有著廣闊的民用市場，而且有著巨大的潛在的軍用價值。它代表一個國家計算機科學、模式識別和智能控制技術的發(fā)展水平，也是衡量一個國家科研實力和工業(yè)水平的一個重要標志。

來源出版物：汽車維修, 2003 (2): 9-10

被引頻次：18

獵豹智能車無人駕駛系統(tǒng)總體設計

徐友春，常明，劉洪泉，等

摘要：介紹獵豹智能車無人駕駛系統(tǒng)總體設計及其硬件和軟件的設計特點和實現(xiàn)方法。系統(tǒng)采用機器視覺來識別高速公路車道線，利用擬人控制算法來實現(xiàn)車輛自動駕駛控制，最高時速為95 km/h的初步試驗結果驗證了系統(tǒng)的可行性。

關鍵詞：無人駕駛汽車；機器視覺；控制算法

來源出版物：汽車工程, 2006, 28(12): 1081-1085

被引頻次：17

國內(nèi)外安全輔助駕駛研究發(fā)展動態(tài)

王春燕，蔡鳳田，楊英俊

摘要：本文在論述安全輔助駕駛（SDA）研究重要性的基礎上，列舉了世界發(fā)達國家美國、德國和日本在該研究領域的研究內(nèi)容及最新研究成果，最后對中國的安全輔助駕駛（SDA）研究工作提出一些建議。

關鍵詞：安全輔助駕駛（SDA）；自動高速公路系統(tǒng)（AHS）；高級安全汽車（ASV）

來源出版物：云南交通科技, 1999, 15(5): 13-14

被引頻次：1710

關鍵詞：consensus theory; distributed control; dynamic graphs; mobile sensor networks; networked autonomousvehicles; self-assembly of networks; self-organizing systems; swarms

來源出版物：IEEE Transactions on Automatic Control,2006, 51(3): 401-420

被引頻次：1170

Behavior-based formation control for multirobot teams

Balch, T; Arkin, RC

Abstract:New reactive behaviors that implement formations in multirobot teams are presented and evaluated. The formation behaviors are integrated with other navigational behaviors to enable a robotic team to reach navigational goals, avoid hazards and simultaneously remain in formation. The behaviors are implemented in simulation, an robots in the laboratory and aboard DARPA’s HMMWV-based Unmanned Ground vehicles.The technique has been integrated with the Autonomous Robot Architecture (AuRA) and the UGV Demo II architecture. The results demonstrate the value of various types of formations in autonomous, human-led and communications-restricted applications, and their appropriateness in different types of task environments.

關鍵詞：autonomous robots; behavior-based control; robot formation

來源出版物：IEEE Transactions on Robotics and Automation, 1998, 14(6): 926-939

被引頻次：968

A solution to the simultaneous localization and map building (SLAM) problem

Dissanayake, MWMG; Newman, P; Clark, S; et al.

Abstract:The simultaneous localization and map building(SLAM) problem asks if it is possible for anautonomous vehicle to start in an unknown location in an unknown environment and then to incrementally build a map of this environment while simultaneously using this map to compute absolute vehicle location. Starting from the estimation-theoretic foundations of this problem developed in, this paper proves that a solution to the SLAM problem is indeed possible. The underlying structure of the SLAM problem is first elucidated. A proof that the estimated map converges monotonically to a relative map with zero uncertainty is then developed. It is then shown that the absolute accuracy of the map and the vehicle location reach a lower bound defined only by the initial vehicle uncertainty. Together, these results show that it is possible for an autonomous vehicle to start in an unknown location in an unknown environment and, using relative observations only, incrementally build a perfect map of the world and to compute simultaneously a bounded estimate of vehicle location. This paper also describes a substantial implementation of the SLAM algorithm on a vehicle operating in an outdoor environment using millimeterwave (MMW) radar to provide relative map observations.This implementation is used to demonstrate how some key issues such as map management and data association can be handled in a practical environment. The results obtained are cross-compared with absolute locations of the map landmarks obtained by surveying. In conclusion, this paper discusses a number of key issues raised by the solution to the SLAM problem including suboptimal map-building algorithms and map management.

關鍵詞：autonomous navigation; millimeter wave radar;simultaneous localization and map building

來源出版物：IEEE Transactions on Robotics and Automation, 2001, 17(3): 229-241

被引頻次：963

Coverage control for mobile sensing networks

Cortes, J; Martinez, S; Karatas, T; et al.

Abstract:This paper presents control and coordination algorithms for groups of vehicles. The focus is onautonomous vehicle networks performing distributed sensing tasks, where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed,asynchronous, and verifiably correct.

關鍵詞：Centroidal Voronoi partitions; coverage control;distributed and asynchronous algorithms; sensor networks

來源出版物：IEEE Transactions on Robotics and Automation, 2004, 20(2): 243-255

被引頻次：937

MonoSLAM: Real-time single camera SLAM

Davison, AJ; Reid, ID; Molton, ND; et al.

Abstract:We present a real-time algorithm which can recover the 3D trajectory of a monocular camera, moving rapidly through a previously unknown scene. Our system,which we dub MonoSLAM, is the first successful application of the SLAM methodology from mobile robotics to the “pure vision” domain of a singleuncontrolled camera, achieving real time but drift-free performance inaccessible to Structure from Motion approaches. The core of the approach is the online creation of a sparse but persistent map of natural landmarks within a probabilistic framework. Our key novel contributions include an active approach to mapping and measurement,the use of a general motion model for smooth camera movement, and solutions for monocular feature initialization and feature orientation estimation. Together,these add up to an extremely efficient and robust algorithm which runs at 30 Hz with standard PC and camera hardware. This work extends the range of robotic systems in which SLAM can be usefully applied, but also opens up new areas. We present applications of MonoSLAM to real-time 3D localization and mapping for a highperformance full-size humanoid robot and live augmented reality with a hand-held camera.

關鍵詞：autonomous vehicles; 3D/stereo scene analysis;tracking

來源出版物：IEEE Transactions on Pattern Analysis and Machine Intelligence, 2007, 29(6): 1052-1067

被引頻次：523

Sampling-based algorithms for optimal motion planning

Karaman, S; Frazzoli, E

Abstract:During the last decade, sampling-based path planning algorithms, such as probabilistic roadmaps (PRM)and rapidly exploring random trees (RRT), have been shown to work well in practice and possess theoretical guarantees such as probabilistic completeness. However,little effort has been devoted to the formal analysis of the quality of the solution returned by such algorithms, e. g. as a function of the number of samples. The purpose of this paper is to fill this gap, by rigorously analyzing the asymptotic behavior of the cost of the solution returned by stochastic sampling-based algorithms as the number of samples increases. A number of negative results are provided, characterizing existing algorithms, e. g. showing that, under mild technical conditions, the cost of the solution returned by broadly used sampling-based algorithms converges almost surely to a non-optimal value.The main contribution of the paper is the introduction of new algorithms, namely, PRM* and RRT*, which are provably asymptotically optimal, i.e. such that the cost of the returned solution converges almost surely to the optimum. Moreover, it is shown that the computational complexity of the new algorithms is within a constant factor of that of their probabilistically complete (but not asymptotically optimal) counterparts. The analysis in this paper hinges on novel connections between stochastic sampling-based path planning algorithms and the theory of random geometric graphs.

關鍵詞：motion planning; optimal path planning;sampling-based algorithms; random geometric graphs

來源出版物：The International Journal of Robotics Research, 2011, 30(7): 846-894

被引頻次：462

An overview of recent progress in the study of distributed multi-agent coordination

Cao, YC; Yu, WW; Ren, W; et al.

Abstract:This paper reviews some main results and progress in distributed multi-agent coordination, focusing on papers published in major control systems and robotics journals since 2006. Distributed coordination of multiple vehicles, including unmanned aerial vehicles, unmanned ground vehicles, and unmanned underwater vehicles, has been a very active research subject studied extensively by the systems and control community. The recent results in this area are categorized into several directions, such as consensus, formation control, optimization, and estimation.After the review, a short discussion section is included to summarize the existing research and to propose several promising research directions along with some open problems that are deemed important for further investigations.

關鍵詞：distributed coordination; formation control;multi-agent system; sensor network

來源出版物：IEEE Transactions on Industrial Informatics,2013, 9(1): 427-438

被引頻次：440

Autonomous driving in urban environments: Boss and the urban challenge

Urmson, C; Anhalt, J; Bagnell, D ; et al.

Abstract:Boss is an autonomous vehicle that uses on-board sensors (global positioning system, lasers, radars,and cameras) to track other vehicles, detect static obstacles,and localize itself relative to a road model. A three-layer planning system combines mission, behavioral, and motion planning to drive in urban environments. The mission planning layer considers which street to take to achieve a mission goal. The behavioral layer determines when tochange lanes and precedence at intersections and performs error recovery maneuvers. The motion planning layer selects actions to avoid obstacles while making progress toward local goals. The system was developed from the ground up to address the requirements of the DARPA Urban Challenge using a spiral system development process with a heavy emphasis on regular, regressive system testing. During the National Qualification Event and the 85-km Urban Challenge Final Event, Boss demonstrated some of its capabilities, qualifying first and winning the challenge.

來源出版物：Journal of Field Robotics, 2008, 25(8):425-466

被引頻次：345

Optimization of the simultaneous localization and map-building algorithm for real-time implementation

Guivant, JE; Nebot, EM

Abstract:This paper addresses real-time implementation of the simultaneous localization and map-building (SLAM)algorithm. It presents optimal algorithms that consider the special form of the matrices and a new compressed filter that can significantly reduce the computation requirements when working in local areas or with high frequency external sensors. It is shown that by extending the standard Kalman filter models the information gained in a local area can be maintained with a cost similar to O (Na-alpha(2)),where Na-alpha is the number of landmarks in the local area, and then transferred to the overall map in only one iteration at full SLAM computational cost. Additional simplifications are also presented that are very close to optimal when an appropriate map representation is used.Finally the algorithms are validated with experimental results obtained with a standard vehicle running in a completely unstructured outdoor environment.

關鍵詞：autonomous vehicles; Kalman filter; map building; navigation

來源出版物：IEEE Transactions on Robotics and Automation, 2001, 17(3): 242-257

被引頻次：270

Blanche-an experiment in guidance and navigation of an autonomous robot vehicle

Cox, IJ

Abstract:This paper describes the principal components and capabilities of Blanche, an autonomous robot vehicle.Blanche is designed for use in structured office or factory environments rather than unstructured natural environments. This is a significant restriction, but still allows for many potential applications. An overview of the physical configuration of the vehicle is presented as well as a description of its two sensors, an optical rangefinder and odometry. It is assumed that an off-line path planner provides the vehicle with a series of collision-free maneuvers, consisting of line and arc segments, to move the vehicle from a current to a desired position. On board the vehicle, the line and arc segments specifications are sent to control software consisting of low-level trajectory generation and closed-loop motion control. The trajectory generator takes each segment specification and generates a reference vector at each control update cycle. The cart controller controls the front steering angle and drive velocity using conventional feedback compensation to maintain small errors between the reference and measured states. The controller assumes accurate knowledge of the vehicle's position. We believe that position estimation is a primary problem that must be solved for autonomous vehicles working in structured environments. Blanche's position estimation system consists of 1) an a priori map of its environment, represented as a collection of discrete line segments in the plane; 2) a matching algorithm that registers the range data with the map (of line segments)(this algorithm has the properties that it is robust against missing and spurious data and is reasonably fast allowing matching to occur very frequently (approximately every 8 s), and 3) the matching algorithm also estimates the precision of the corresponding match/correction that is then optimally (in a maximum likelihood sense) combined with the current odometric position to provide an improved estimate of the vehicle’s position. The vehicle and associated algorithms have all been implemented and tested within a structured office environment. Except for the off-line global path planner, the entire autonomous vehicle is self-contained, all processing being performed on board and with no recourse to passive or active beacons placed in the environment. We believe this vehicle is significant not just because of the sensing and algorithms to be described, but also because its implementation represents a high level of performance at low cost.

來源出版物：IEEE Transactions on Robotics and Automation, 1991, 7(2): 193-204

Flocking for multi-agent dynamic systems:Algorithms and theory

Olfati Saber, R

In this paper, we present a theoretical framework for design and analysis of distributed flocking algorithms.Two cases of flocking in free-space and presence of multiple obstacles are considered. We present three flocking algorithms: two for free-flocking and one for constrained flocking. A comprehensive analysis of the first two algorithms is provided. We demonstrate the first algorithm embodies all three rules of Reynolds. This is a formal approach to extraction of interaction rules that lead to the emergence of collective behavior. We show that the first algorithm generically leads to regular fragmentation,whereas the second and third algorithms both lead to flocking. A systematic method is provided for construction of cost functions (or collective potentials) for flocking.These collective potentials penalize deviation from a class of lattice-shape objects called alpha-lattices. We use a multi-species framework for construction of collective potentials that consist of flock-members, or alpha-agents,and virtual agents associated with alpha-agents called betaand gamma-agents. We show that migration of flocks can be performed using a peer-to-peer network of agents, i.e.,“flocks need no leaders.” A “universal” definition of flocking for particle systems with similarities to Lyapunov stability is given. Several simulation results are provided that demonstrate performing 2-D and 3-D flocking,split/rejoin maneuver, and squeezing maneuver for hundreds of agents using the proposed algorithms.