Virginia Tech
Design of a Control System for Multiple Autonomous Ground Vehicles to Achieve a Self Deployable Security Perimeter
Abstract
dc:description.abstractDue to the limitations of GPS in areas where line of sight to the sky is obstructed the development of a GPS-free algorithm for relative formation control is an asset to collaborative vehicles. This paper presents a novel approach based on the Received Signal Strength Indication (RSSI) measurement between broadcast and receive nodes to calculate distance and using the data transfer capability to allow each vehicle to develop a table of relative positions. These relative positions are used to create a potential field that results in an absolute minimum at the vehicles desired position. All vehicles are numbered sequentially. The numbering defines the order in which they will broadcast their data, as well as their position along the perimeter. This thesis looks at two control methods for achieving a formation. The first is the circular motion method that puts perimeter nodes in an orbit around around the perimeter center. The second is a gradient descent method that calculates the gradient of the potential field. Both methods achieve a formation when all perimeter nodes are at their absolute minimums in the potential field. Tests were conducted to analyze RSSI measurements using the 802.15.4 protocol, and a mathematical simulation was conducted for each control algorithm.
Degree
thesis:*- Name thesis:degree_name
- Master of Science
- Level thesis:degree_level
- masters
- Discipline thesis:degree_discipline
- Electrical and Computer Engineering
- Department dc:contributor.department
- Electrical and Computer Engineering
- Grantor dc:publisher
- Virginia Tech
- Year dc:date.issued
- 2007
Author and committee
dc:creator, dc:contributor.*- Author dc:creator
-
- Clemmensen, John Scott Jr.
- Chair dc:contributor.committeechair
-
- Wicks, Alfred L.
- Committee members dc:contributor.committeemember
-
- Baumann, William T.
- Reinholtz, Charles F.
Subjects
dc:subject × 4Rights
dc:rights- Statement dc:rights
-
- In Copyright
- Licence dc:rights.uri
Identifiers
dc:identifier.*- Dc Identifier Other
- etd-07252007-145150
- OAI identifier oai:identifier
- oai:vtechworks.lib.vt.edu:10919/34165