Читать книгу Engineering Autonomous Vehicles and Robots - Shaoshan Liu - Страница 26

In the previous sections we have introduced the proposed modular design approach for building autonomous vehicles and robots. In the rest of the book, we will delve into these topics, and present the details of each module as well as how to integrate these modules to enable a fully functioning autonomous vehicle or robot.

The first part of the book consists of Chapters 2–8, in which we introduce each module, including communication systems, chassis technologies, passive perception technologies, localization with RTK GNSS, computer vision for perception and localization, planning and control, as well as mapping technologies.

 Chapter 2: In-Vehicle Communication Systems

 Chapter 3: Chassis Technologies for Autonomous Robots and Vehicles

 Chapter 4: Passive Perception with Sonar and mmWave Radar

 Chapter 5: Localization with RTK GNSS

 Chapter 6: Computer Vision for Perception and Localization

 Chapter 7: Planning and Control

 Chapter 8: Mapping

The second part of the book consists of Chapters 9 and 10, in which we present two interesting case studies: the first one is about applying the modular design to build low-speed autonomous vehicles; and the second one is about how NASA builds its space robotic explorer using a modular design approach.

 Chapter 9: Building the DragonFly Pod and Bus

 Chapter 10: Enabling Commercial Autonomous Space Robotic Explorers

From our practical experiences, the capabilities of autonomous vehicles and robots are often constrained by limited onboard computing power. Therefore, in the final part of the book, we delve into state-of-the-art approaches in building edge computing systems for autonomous vehicles and robots. We will cover onboard edge computing design, vehicle-to-everything infrastructure, as well as autonomous vehicle security.

 Chapter 11: Edge Computing for Autonomous Vehicles

 Chapter 12: Innovations on the Vehicle-to-Everything Infrastructure

 Chapter 13: Vehicular Edge Security