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Autonomous Mobile Vehicle System Overview for Wheeled Ground Applications

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Machine Vision and Navigation

Abstract

In recent years, the idea of autonomous vehicles has taken on importance since some automobile companies have decided to develop their own autonomous cars. However, not every “autonomous car” is fully autonomous since there are different levels of autonomy. Currently, there is a variety of studies and a great deal of research about autonomous vehicles and on how to achieve full autonomy; even more, these are not limited to cars, but also include research surrounding mobile robots, drones, remotely operated vehicles (ROVs), and others. All these robots or vehicles have the same principles, in addition to having the same basics of the hardware. However, not the same can be said about the software because every solution requires unique algorithms for their data processing. In this chapter, the most important topics related to autonomous vehicles are explained as clearly as possible. This chapter covers from its main concepts to path planning, going through the basic components that an autonomous vehicle must have, all the way to the perception it has of its environment, including the identification of obstacles, signs and routes. Then, inquiry will be made into the most commonly used hardware for the development of these vehicles. In the last part of this chapter, the case study “Intelligent Transportation Scheme for Autonomous Vehicles in Smart Campus” is incorporated in order to help illustrate the goal of this chapter. Finally, an insight is included on how the innovation on business models can and will change the future of vehicles.

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Abbreviations

2D:

Two dimensional

3D:

Three dimensional

AS/RS:

Automated storage and retrieval system

BDS:

BeiDou Navigation Satellite System

CML:

Concurrent mapping and localization

CPR:

Cycles per revolution

DGPS:

Differential global positioning system

DoF:

Degree of freedom

FMCW:

Frequency-modulated continuous wave

FPGA:

Field programmable gate array

GNSS:

Global navigation satellite system

GPS:

Global positioning system

IR:

Infrared radiation

IRNSS:

Indian Regional Navigation Satellite System

IT:

Information technologies

IMU:

Inertial measurement unit

LiDAR:

Light detection and ranging

MAV:

Micro aerial vehicle

MEO:

Medium earth orbit

MUTCD:

Manual on uniform traffic control devices

OD:

Obstacle detection

PPR:

Pulses per revolution

RADAR:

Radio detection and ranging

ROV:

Remotely operated vehicle

SAE:

Society of Automotive Engineers

SLAM:

Simultaneous localization and mapping

SoC:

System on a chip

S/R:

Storage and retrieval

ToF:

Time of flight

TSR:

Traffic sign recognition

UL:

Unit load

VO:

Visual odometry

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Acknowledgments

The authors would like to thank Center of Innovation and Design (CEID) of CETYS University Mexicali Campus for all facilities to perform the research and for providing the necessary resources to develop this project. Also, special thanks to the image illustrators Luis Esquivel, Alexa Macías, and Valeria Muñoz.

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Authors and Affiliations

  1. CETYS Universidad, Mexicali, Mexico

    Luis Carlos Básaca-Preciado, Néstor Aarón Orozco-García, Oscar A. Rosete-Beas, Miguel A. Ponce-Camacho, Kevin B. Ruiz-López, Verónica A. Rojas-Mendizabal, Cristobal Capiz-Gómez, Julio Francisco Hurtado-Campa & Juan Manuel Terrazas-Gaynor

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  1. Luis Carlos Básaca-Preciado
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Correspondence to Luis Carlos Básaca-Preciado .

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Editors and Affiliations

  1. Universidad Autónoma de Baja California, Mexicali, Baja California, Mexico

    Oleg Sergiyenko

  2. Universidad Autónoma de Baja California, Mexicali, Baja California, Mexico

    Wendy Flores-Fuentes

  3. Leuphana University of Lueneburg, Lueneburg, Low Saxony, Niedersachsen, Germany

    Paolo Mercorelli

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Básaca-Preciado, L.C. et al. (2020). Autonomous Mobile Vehicle System Overview for Wheeled Ground Applications. In: Sergiyenko, O., Flores-Fuentes, W., Mercorelli, P. (eds) Machine Vision and Navigation. Springer, Cham. https://doi.org/10.1007/978-3-030-22587-2_15

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  • DOI: https://doi.org/10.1007/978-3-030-22587-2_15

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