Swarm systems is a new trend in autonomy and more platforms are currently tested for various application. Multi-agent autonomy and self-organization is a target for most such systems, either ground-, air-or sea-based. This article presents the design of a novel ground-based electric vehicle used as a technology demonstrator for autonomous multi-drone systems. The vehicle is equipped with differential steering, battery management circuits, optical and vector flow encoders, omni-vision and wireless transceivers. The vehicle is based on an 8-bit microcontroller (MCU) which is remotely controlled via a computer. The MCU is also responsible with the sensor acquisition, telemetry and message display for local debugging. The final goal of the system is to develop a testbed for path planning and coordination of agents in a swarm system based on simple cooperative and competitive algorithms. The electric vehicle is tested indoor and results are critically analyzed in order to efficiently evaluate the precision of the path planning system as a whole.
Electric Powered Miniature Vehicle for Multi-Agent Network Testbed
2019-10-01
734837 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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