2026-09-19T10:44:42Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/180322022-01-13T07:54:29Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Jonathan P. How.
Sae-Hau, Chris, 1980-
Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2005-06-02T19:42:23Z
2005-06-02T19:42:23Z
2003
2003
http://hdl.handle.net/1721.1/18032
57253371
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2003.
Includes bibliographical references (p. 63-64).
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.
by Chris Sae-Hau.
M.Eng.
64 p.
2679673 bytes
2685848 bytes
application/pdf
application/pdf
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
http://dspace.mit.edu/handle/1721.1/7582
Electrical Engineering and Computer Science.
Multi-vehicle rover testbed using a new indoor positioning sensor
Thesis
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