Multi-vehicle rover testbed using a new indoor positioning sensor

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.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2003

Author dc:creator

• Sae-Hau, Chris, 1980-

Advisor dc:contributor.advisor

• Jonathan P. How.

• Electrical Engineering and Computer Science.

Statement dc:rights

• 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.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/18032

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/18032