乔维高，徐学进

高被引论文摘要

被引频次：103

无人驾驶汽车的发展现状及方向

乔维高，徐学进

无人驾驶汽车大大提高了交通系统效率和安全性，是未来汽车发展的一个方向。首先介绍了国内外无人驾驶汽车的发展现状，并简单讨论了相关的关键技术，最后阐述了无人驾驶汽车领域的发展方向。

无人驾驶汽车；关键技术；发展

来源出版物：上海汽车, 2007 (7): 40-43

被引频次：58

智能车辆机器视觉发展近况

徐友春，李克强，连小珉，等

摘要：简要回顾了机器视觉的早期发展，从简单的特定场合应用到模拟人眼的复杂系统设计，介绍了机器视觉产品在智能汽车上的应用情况，分析了世界各国在车用机器视觉技术领域研究开发情况以及未来发展趋势。

关键词：智能车辆；机器视觉；发展

来源出版物：汽车工程, 2003, 25(5): 438-443

被引频次：52

无人驾驶汽车的发展现状和展望

杨帆

摘要：分析了当前全球无人驾驶汽车的技术现状及所面临的产业化瓶颈。介绍了整车和IT企业无人驾驶汽车的发展路线，并对其产业化未来做了展望。

关键词：无人驾驶；技术路线；法律法规

来源出版物：上海汽车, 2014 (3): 35-40

被引频次：41

全自动无人驾驶系统——全新理念的城市轨道交通模式

王曰凡

摘要：介绍了全自动无人驾驶系统的现状、优越性，分析了无人驾驶系统与传统的城市轨道交通系统的差异，总结了全自动无人驾驶系统的特点，提出了需要研究的主要技术。全自动无人驾驶系统是科学技术发展的产物，是成熟、可靠、安全的系统，适用于小编组、高密度、中小运量直至大运量的城市轨道交通系统。全自动无人驾驶系统是城市轨道交通系统集成技术的一次质的飞跃，它将引导现代城市轨道交通的发展趋势。

关键词：城市轨道交通；新交通系统；无人驾驶

来源出版物：城市轨道交通研究, 2006, 9(8): 1-5

被引频次：30

基于模糊控制的智能车辆自主行驶方法研究

熊波，曲仕茹

摘要：车辆无人驾驶是智能交通系统的一个重要部分，其目标是开发在高速公路和城市道路环境下的辅助驾驶系统，旨在帮助乃至取代驾驶员，实现车辆自动控制和自动驾驶，减少交通事故发生，提高道路交通系统的效率，因此提出了一种基于机器视觉和模糊控制实现智能车辆自主行驶的方法。该方法以CMOS摄像头为路径识别传感器，通过图像分析提取车道中心线，并引入速度反馈，形成闭环控制，建立一个由两个模糊控制器组成的分级模糊控制器控制车辆转向，并使用模糊控制代替传统的PID速度控制来控制速度。和常规的PID算法及模糊控制算法相比，改进的模糊控制算法使智能车在道路上更快速、平稳地运行，并且在转弯处的超调更小。

关键词：智能交通；智能车；自动驾驶；模糊控制；视觉导航

来源出版物：交通运输系统工程与信息, 2009, 10(2): 70-75

被引频次：27

基于激光雷达的无人驾驶车前方障碍物检测

赵一兵，王荣本，李琳辉，等

摘要：无人驾驶车在越野条件下的环境感知技术是其实现自主导航功能的难题。由于越野环境复杂，障碍物种类繁多，对智能车周围环境的探测更是难上加难。选择越野环境下几种典型的障碍物作为检测目标，采用基于激光雷达面扫描的方法获取无人驾驶车前方路面图像信息，根据障碍物对于激光数据的不同特征，检测无人驾驶车前方静止的障碍物，主要包括水塘、石头或陡坡以及树木等。利用激光可直接测得障碍物距离数据的优势，基于投影变换原理进而求得障碍物的长、宽或高等三维信息。

关键词：环境感知；无人驾驶车；激光雷达

来源出版物：交通与计算机, 2007, 25 (2): 9-13

被引频次：25

无人驾驶汽车的先进技术与发展

端木庆玲，阮界望，马钧

摘要：作为未来汽车的发展方向，无人驾驶汽车已经得到社会各方面的关注。本文介绍了国内外无人驾驶汽车的发展历程，对当前无人驾驶汽车的发展阶段与先进技术进行了分析，最后针对物联网对无人驾驶汽车发展的影响做出了推断。

关键词：无人驾驶；先进技术；车联网

来源出版物：农业装备与车辆工程, 2014, 52(3): 30-33

被引频次：23

无人驾驶汽车的研究现状及发展方向

闫民

摘要：无人驾驶技术是集自动控制理论、人工智能理论、视觉计算理论、体系结构理论、程序设计技术、机构控制技术、组合导航技术、传感器技术、信息融合技术、机械设计制造技术等多种理论及技术于一体的多学科、多行业综合技术，该技术不仅有着广阔的民用市场，而且有着巨大的潜在的军用价值。它代表一个国家计算机科学、模式识别和智能控制技术的发展水平，也是衡量一个国家科研实力和工业水平的一个重要标志。

来源出版物：汽车维修, 2003 (2): 9-10

被引频次：18

猎豹智能车无人驾驶系统总体设计

徐友春，常明，刘洪泉，等

摘要：介绍猎豹智能车无人驾驶系统总体设计及其硬件和软件的设计特点和实现方法。系统采用机器视觉来识别高速公路车道线，利用拟人控制算法来实现车辆自动驾驶控制，最高时速为95 km/h的初步试验结果验证了系统的可行性。

关键词：无人驾驶汽车；机器视觉；控制算法

来源出版物：汽车工程, 2006, 28(12): 1081-1085

被引频次：17

国内外安全辅助驾驶研究发展动态

王春燕，蔡凤田，杨英俊

摘要：本文在论述安全辅助驾驶（SDA）研究重要性的基础上，列举了世界发达国家美国、德国和日本在该研究领域的研究内容及最新研究成果，最后对中国的安全辅助驾驶（SDA）研究工作提出一些建议。

关键词：安全辅助驾驶（SDA）；自动高速公路系统（AHS）；高级安全汽车（ASV）

来源出版物：云南交通科技, 1999, 15(5): 13-14

被引频次：1710

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

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

被引频次：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.

关键词：autonomous robots; behavior-based control; robot formation

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

被引频次：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.

关键词：autonomous navigation; millimeter wave radar;simultaneous localization and map building

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

被引频次：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.

关键词：Centroidal Voronoi partitions; coverage control;distributed and asynchronous algorithms; sensor networks

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

被引频次：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.

关键词：autonomous vehicles; 3D/stereo scene analysis;tracking

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

被引频次：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.

关键词：motion planning; optimal path planning;sampling-based algorithms; random geometric graphs

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

被引频次：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.

关键词：distributed coordination; formation control;multi-agent system; sensor network

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

被引频次：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.

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

被引频次：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.

关键词：autonomous vehicles; Kalman filter; map building; navigation

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

被引频次：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.

来源出版物：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.