Multi-vehicle rover testbed using a new indoor positioning sensor
Name
57253371-MIT.pdf
Description
Full printable version
Size
3.95 MB
Format
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Checksum (MD5)
51ce48eeb8b622ffa0cb478e6c95fc3e
Author(s)
Sae-Hau, Chris, 1980-
Advisor(s)
Jonathan P. How.
Date Issued
2003
Publisher
Massachusetts Institute of Technology
Abstract
This thesis describes the design and implementation of an indoor multi-rover testbed using a high-precision indoor positioning sensor system. The system model for the rover is derived and used in a Kalman filter that estimates each rover's velocity given the position measurements. These state estimates are then used in high-level path planning and control algorithms. Single and multi-rover tests are performed using single and multi-waypoint path plans. The results from these tests demonstrate the correctness of the system model, estimator, and control algorithms. This testbed serves as a platform for future multi-vehicle coordinated control experiments.
Description
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2003.
Includes bibliographical references (p. 63-64).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
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