Chapter . Docking of Autonomous Vehicles: A Comparison of Model-Independent Guidance Methods
G. Nejat and B. Benhabib
Computer Integrated Manufacturing Laboratory Department of Mechanical and Industrial Engineering University of Toronto, 5 King’s College Road, Toronto, Ontario, Canada M5S 3G8
In this Paper, two generic Line-of-Sight (LOS) sensing-based short-range guidance methodologies are presented for the docking of autonomous vehicles. The first method utilizes a passive LOS sensing scheme to provide vehicle corrective motions, while the latter method utilizes active sensing. The novelty of the proposed guidance methodologies is their applicability to situations that do not allow for direct proximity measurements of the vehicle. The ...