Engineering autonomous vehicles and robots : (Record no. 40903)

MARC details
000 -LEADER
fixed length control field 10896nam a2200601 i 4500
001 - CONTROL NUMBER
control field 9063369
003 - CONTROL NUMBER IDENTIFIER
control field IEEE
005 - DATE AND TIME OF LATEST TRANSACTION
control field 20230927112402.0
006 - FIXED-LENGTH DATA ELEMENTS--ADDITIONAL MATERIAL CHARACTERISTICS
fixed length control field m o d
007 - PHYSICAL DESCRIPTION FIXED FIELD--GENERAL INFORMATION
fixed length control field cr |n|||||||||
008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION
fixed length control field 200429s2020 nju ob 001 eng d
010 ## - LIBRARY OF CONGRESS CONTROL NUMBER
Canceled/invalid LC control number 2019058289 (print)
019 ## -
-- 1145019019
020 ## - INTERNATIONAL STANDARD BOOK NUMBER
International Standard Book Number 1119570549
020 ## - INTERNATIONAL STANDARD BOOK NUMBER
International Standard Book Number 9781119570554
Qualifying information adobe pdf
020 ## - INTERNATIONAL STANDARD BOOK NUMBER
Canceled/invalid ISBN 9781119570547
Qualifying information ePub
020 ## - INTERNATIONAL STANDARD BOOK NUMBER
International Standard Book Number 1119570557
020 ## - INTERNATIONAL STANDARD BOOK NUMBER
Canceled/invalid ISBN 9781119570561
Qualifying information hardback
020 ## - INTERNATIONAL STANDARD BOOK NUMBER
Canceled/invalid ISBN 9781119570516
Qualifying information electronic bk.
020 ## - INTERNATIONAL STANDARD BOOK NUMBER
Canceled/invalid ISBN 1119570514
Qualifying information electronic bk.
020 ## - INTERNATIONAL STANDARD BOOK NUMBER
Canceled/invalid ISBN 1119570565
024 7# - OTHER STANDARD IDENTIFIER
Standard number or code 10.1002/9781119570516
Source of number or code doi
035 ## - SYSTEM CONTROL NUMBER
System control number (CaBNVSL)mat09063369
035 ## - SYSTEM CONTROL NUMBER
System control number (IDAMS)0b0000648c8c3549
040 ## - CATALOGING SOURCE
Original cataloging agency CaBNVSL
Language of cataloging eng
Description conventions rda
Transcribing agency CaBNVSL
Modifying agency CaBNVSL
082 00 - DEWEY DECIMAL CLASSIFICATION NUMBER
Classification number 629.04/6
100 1# - MAIN ENTRY--PERSONAL NAME
Personal name Liu, Shaoshan,
Relator term author.
245 10 - TITLE STATEMENT
Title Engineering autonomous vehicles and robots :
Remainder of title the DragonFly modular-based approach /
Statement of responsibility, etc. Shaoshan Liu.
250 ## - EDITION STATEMENT
Edition statement First edition.
264 #1 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE
Place of production, publication, distribution, manufacture Hoboken :
Name of producer, publisher, distributor, manufacturer Wiley-IEEE Press,
Date of production, publication, distribution, manufacture, or copyright notice 2020.
264 #2 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE
Place of production, publication, distribution, manufacture [Piscataqay, New Jersey] :
Name of producer, publisher, distributor, manufacturer IEEE Xplore,
Date of production, publication, distribution, manufacture, or copyright notice [2020]
300 ## - PHYSICAL DESCRIPTION
Extent 1 PDF.
336 ## - CONTENT TYPE
Content type term text
Source rdacontent
337 ## - MEDIA TYPE
Media type term electronic
Source isbdmedia
338 ## - CARRIER TYPE
Carrier type term online resource
Source rdacarrier
504 ## - BIBLIOGRAPHY, ETC. NOTE
Bibliography, etc. note Includes bibliographical references and index.
505 0# - FORMATTED CONTENTS NOTE
Formatted contents note 1 Affordable and Reliable Autonomous Driving Through Modular Design 1 -- 1.1 Introduction 1 -- 1.2 High Cost of Autonomous Driving Technologies 2 -- 1.2.1 Sensing 2 -- 1.2.2 HD Map Creation and Maintenance 3 -- 1.2.3 Computing Systems 3 -- 1.3 Achieving Affordability and Reliability 4 -- 1.3.1 Sensor Fusion 4 -- 1.3.2 Modular Design 5 -- 1.3.3 Extending Existing Digital Maps 5 -- 1.4 Modular Design 6 -- 1.4.1 Communication System 7 -- 1.4.2 Chassis 7 -- 1.4.3 mmWave Radar and Sonar for Passive Perception 8 -- 1.4.4 GNSS for Localization 8 -- 1.4.5 Computer Vision for Active Perception and Localization 8 -- 1.4.6 Planning and Control 8 -- 1.4.7 Mapping 9 -- 1.5 The Rest of the Book 9 -- 1.6 Open Source Projects Used in this Book 10 -- References 11 -- 2 In-Vehicle Communication Systems 13 -- 2.1 Introduction 13 -- 2.2 CAN 13 -- 2.3 FlexRay 16 -- 2.3.1 FlexRay Topology 16 -- 2.3.2 The FlexRay Communication Protocol 17 -- 2.4 CANopen 18 -- 2.4.1 Object Dictionary 19 -- 2.4.2 Profile Family 19 -- 2.4.3 Data Transmission and Network Management 20 -- 2.4.4 Communication Models 21 -- 2.4.5 CANopenNode 21 -- References 22 -- 3 Chassis Technologies for Autonomous Robots and Vehicles 23 -- 3.1 Introduction 23 -- 3.2 Throttle-by-Wire 23 -- 3.3 Brake-by-Wire 25 -- 3.4 Steer-by-Wire 25 -- 3.5 Open Source Car Control 26 -- 3.5.1 OSCC APIs 26 -- 3.5.2 Hardware 27 -- 3.5.3 Firmware 28 -- 3.6 OpenCaret 29 -- 3.6.1 OSCC Throttle 29 -- 3.6.2 OSCC Brake 29 -- 3.6.3 OSCC Steering 29 -- 3.7 PerceptIn Chassis Software Adaptation Layer 30 -- References 34 -- 4 Passive Perception with Sonar and Millimeter Wave Radar 35 -- 4.1 Introduction 35 -- 4.2 The Fundamentals of mmWave Radar 35 -- 4.2.1 Range Measurement 36 -- 4.2.2 Velocity Measurement 37 -- 4.2.3 Angle Detection 38 -- 4.3 mmWave Radar Deployment 38 -- 4.4 Sonar Deployment 41 -- References 45 -- 5 Localization with Real-Time Kinematic Global Navigation Satellite System 47 -- 5.1 Introduction 47 -- 5.2 GNSS Technology Overview 47 -- 5.3 RTK GNSS 49.
505 8# - FORMATTED CONTENTS NOTE
Formatted contents note 5.4 RTK-GNSS NtripCaster Setup Steps 52 -- 5.4.1 Set up NtripCaster 52 -- 5.4.2 Start NtripCaster 54 -- 5.5 Setting Up NtripServer and NtripClient on Raspberry Pi 55 -- 5.5.1 Install the Raspberry Pi System 55 -- 5.5.2 Run RTKLIB-str2str on the Raspberry Pi 57 -- 5.5.2.1 Running NtripServer on the Base Station Side 57 -- 5.5.2.2 Running NtripClient on the GNSS Rover 58 -- 5.6 Setting Up a Base Station and a GNSS Rover 59 -- 5.6.1 Base Station Hardware Setup 59 -- 5.6.2 Base Station Software Setup 60 -- 5.6.3 GNSS Rover Setup 67 -- 5.6.3.1 Rover Hardware Setup 67 -- 5.6.3.2 Rover Software Setup 68 -- 5.7 FreeWave Radio Basic Configuration 71 -- References 75 -- 6 Computer Vision for Perception and Localization 77 -- 6.1 Introduction 77 -- 6.2 Building Computer Vision Hardware 77 -- 6.2.1 Seven Layers of Technologies 78 -- 6.2.2 Hardware Synchronization 80 -- 6.2.3 Computing 80 -- 6.3 Calibration 81 -- 6.3.1 Intrinsic Parameters 81 -- 6.3.2 Extrinsic Parameters 82 -- 6.3.3 Kalibr 82 -- 6.3.3.1 Calibration Target 83 -- 6.3.3.2 Multiple Camera Calibration 83 -- 6.3.3.3 Camera IMU Calibration 84 -- 6.3.3.4 Multi-IMU and IMU Intrinsic Calibration 84 -- 6.4 Localization with Computer Vision 85 -- 6.4.1 VSLAM Overview 85 -- 6.4.2 ORB-SLAM2 86 -- 6.4.2.1 Prerequisites 86 -- 6.4.2.2 Building the ORB-SLAM2 Library 87 -- 6.4.2.3 Running Stereo Datasets 87 -- 6.5 Perception with Computer Vision 87 -- 6.5.1 ELAS for Stereo Depth Perception 88 -- 6.5.2 Mask R-CNN for Object Instance Segmentation 89 -- 6.6 The DragonFly Computer Vision Module 90 -- 6.6.1 DragonFly Localization Interface 90 -- 6.6.2 DragonFly Perception Interface 92 -- 6.6.3 DragonFly+ 93 -- References 94 -- 7 Planning and Control 97 -- 7.1 Introduction 97 -- 7.2 Route Planning 97 -- 7.2.1 Weighted Directed Graph 98 -- 7.2.2 Dijkstra���Os Algorithm 99 -- 7.2.3 A* Algorithm 100 -- 7.3 Behavioral Planning 100 -- 7.3.1 Markov Decision Process 101 -- 7.3.2 Value Iteration Algorithm 102 -- 7.3.3 Partially Observable Markov Decision Process (POMDP) 103.
505 8# - FORMATTED CONTENTS NOTE
Formatted contents note 7.3.4 Solving POMDP 104 -- 7.4 Motion Planning 105 -- 7.4.1 Rapidly Exploring Random Tree 105 -- 7.4.2 RRT* 106 -- 7.5 Feedback Control 107 -- 7.5.1 Proportional���oIntegral���oDerivative Controller 108 -- 7.5.2 Model Predictive Control 108 -- 7.6 Iterative EM Plannning System in Apollo 110 -- 7.6.1 Terminologies 110 -- 7.6.1.1 Path and Trajectory 110 -- 7.6.1.2 SL Coordinate System and Reference Line 110 -- 7.6.1.3 ST Graph 111 -- 7.6.2 Iterative EM Planning Algorithm 112 -- 7.6.2.1 Traffic Decider 113 -- 7.6.2.2 QP Path and QP Speed 114 -- 7.7 PerceptIn���Os Planning and Control Framework 116 -- References 118 -- 8 Mapping 119 -- 8.1 Introduction 119 -- 8.2 Digital Maps 119 -- 8.2.1 Open Street Map 120 -- 8.2.1.1 OSM Data Structures 120 -- 8.2.1.2 OSM Software Stack 121 -- 8.2.2 Java OpenStreetMap Editor 121 -- 8.2.2.1 Adding a Node or a Way 123 -- 8.2.2.2 Adding Tags 123 -- 8.2.2.3 Uploading to OSM 124 -- 8.2.3 Nominatim 124 -- 8.2.3.1 Nominatim Architecture 124 -- 8.2.3.2 Place Ranking in Nominatim 125 -- 8.3 High-Definition Maps 125 -- 8.3.1 Characteristics of HD Maps 126 -- 8.3.1.1 High Precision 126 -- 8.3.1.2 Rich Geometric Information and Semantics 126 -- 8.3.1.3 Fresh Data 126 -- 8.3.2 Layers of HD Maps 126 -- 8.3.2.1 2D Orthographic Reflectivity Map 127 -- 8.3.2.2 Digital Elevation Model 127 -- 8.3.2.3 Lane/Road Model 127 -- 8.3.2.4 Stationary Map 127 -- 8.3.3 HD Map Creation 127 -- 8.3.3.1 Data Collection 127 -- 8.3.3.2 Offline Generation of HD Maps 128 -- 8.3.3.2.1 Sensor Fusion and Pose Estimation 128 -- 8.3.3.2.2 Map Data Fusion and Data Processing 129 -- 8.3.3.2.3 3D Object Location Detection 129 -- 8.3.3.2.4 Semantics/Attributes Extraction 129 -- 8.3.3.3 Quality Control and Validation 129 -- 8.3.3.4 Update and Maintenance 129 -- 8.3.3.5 Problems of HD Maps 130 -- 8.4 PerceptIn���Os �I�-Map 130 -- 8.4.1 Topological Map 130 -- 8.4.2 �I�-Map Creation 131 -- References 133 -- 9 Building the DragonFly Pod and Bus 135 -- 9.1 Introduction 135 -- 9.2 Chassis Hardware Specifications 135.
505 8# - FORMATTED CONTENTS NOTE
Formatted contents note 9.3 Sensor Configurations 136 -- 9.4 Software Architecture 138 -- 9.5 Mechanism 142 -- 9.6 Data Structures 144 -- 9.6.1 Common Data Structures 144 -- 9.6.2 Chassis Data 146 -- 9.6.3 Localization Data 149 -- 9.6.4 Perception Data 150 -- 9.6.5 Planning Data 153 -- 9.7 User Interface 158 -- References 160 -- 10 Enabling Commercial Autonomous Space Robotic Explorers 161 -- 10.1 Introduction 161 -- 10.2 Destination Mars 162 -- 10.3 Mars Explorer Autonomy 163 -- 10.3.1 Localization 163 -- 10.3.2 Perception 164 -- 10.3.3 Path Planning 165 -- 10.3.4 The Curiosity Rover and Mars 2020 Explorer 165 -- 10.4 Challenge: Onboard Computing Capability 168 -- 10.5 Conclusion 169 -- References 170 -- 11 Edge Computing for Autonomous Vehicles 171 -- 11.1 Introduction 171 -- 11.2 Benchmarks 172 -- 11.3 Computing System Architectures 173 -- 11.4 Runtime 175 -- 11.5 Middleware 177 -- 11.6 Case Studies 178 -- References 179 -- 12 Innovations on the Vehicle-to-Everything Infrastructure 183 -- 12.1 Introduction 183 -- 12.2 Evolution of V2X Technology 183 -- 12.3 Cooperative Autonomous Driving 186 -- 12.4 Challenges 188 -- References 189 -- 13 Vehicular Edge Security 191 -- 13.1 Introduction 191 -- 13.2 Sensor Security 191 -- 13.3 Operating System Security 192 -- 13.4 Control System Security 193 -- 13.5 V2X Security 193 -- 13.6 Security for Edge Computing 194 -- References 196 -- Index 199.
506 ## - RESTRICTIONS ON ACCESS NOTE
Terms governing access Restricted to subscribers or individual electronic text purchasers.
520 ## - SUMMARY, ETC.
Summary, etc. "The first book of its kind on the detailed steps for creating an autonomous vehicle or robot, this book provides an overview of the technology and introduction of the key elements involved in developing autonomous vehicles, and offers an excellent introduction to the basics for someone new to the topic of autonomous vehicles and the innovative, modular-based engineering approach called DragonFly. Engineering Autonomous Vehicles and Robots: The DragonFly Modular-based Approach covers everything that technical professionals need to know about: CAN bus; chassis; sonars; radars; GNSS; computer vision; localization; perception; motion planning etc. Particularly, it covers Computer Vision for active perceptionandlocalization, as well as mapping and motion planning. The book offers several case studies on the building of an autonomous passenger pod, bus, and vending robot etc. It features a large amount of supplementary material, including the standard protocol and sample codes for chassis, sonar, and radar. GPSD protocol/NMEA protocol and GPS deployment methods are also provided. Most importantly, readers will learn the philosophy behind the DragonFly modular-based design approach, which empowers readers to design and build their own autonomous vehicles and robots with flexibility and affordability"--
Assigning source Provided by publisher.
530 ## - ADDITIONAL PHYSICAL FORM AVAILABLE NOTE
Additional physical form available note Also available in print.
538 ## - SYSTEM DETAILS NOTE
System details note Mode of access: World Wide Web
650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM
Topical term or geographic name entry element Automated vehicles.
650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM
Topical term or geographic name entry element Mobile robots.
655 #4 - INDEX TERM--GENRE/FORM
Genre/form data or focus term Electronic books.
710 2# - ADDED ENTRY--CORPORATE NAME
Corporate name or jurisdiction name as entry element IEEE Xplore (Online Service),
Relator term distributor.
710 2# - ADDED ENTRY--CORPORATE NAME
Corporate name or jurisdiction name as entry element Wiley,
Relator term publisher.
776 08 - ADDITIONAL PHYSICAL FORM ENTRY
Relationship information Print version:
Main entry heading Liu, Shaoshan.
Title Engineering autonomous vehicles and robots
Edition First edition.
Place, publisher, and date of publication Hoboken : Wiley-IEEE Press, 2020.
International Standard Book Number 9781119570561
Record control number (DLC) 2019058288
856 42 - ELECTRONIC LOCATION AND ACCESS
Materials specified Abstract with links to resource
Uniform Resource Identifier <a href="https://ieeexplore.ieee.org/xpl/bkabstractplus.jsp?bkn=9063369">https://ieeexplore.ieee.org/xpl/bkabstractplus.jsp?bkn=9063369</a>

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