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.


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    Title :

    Multi-vehicle rover testbed using a new indoor positioning sensor


    Contributors:

    Publication date :

    2003


    Size :

    64 pages , 2679673 byte , 2685848 byte


    Remarks:

    Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2003.
    Includes bibliographical references (p. 63-64).


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English




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