The goal of this project is to implement a semi- autonomous system consisting of two ground vehicles that simulate a convoy control scheme using operator control for the master and autonomous control for the slave. Using a control system based on platform kinematics in conjunction with the open source ROS framework, three different convoy scenarios are investigated using two Clearpath Husky A100 ground platforms and results are compared to computer simulation. The main contributions of this project are the development of a software framework for multi- vehicle convoys and the identification of vehicle kinematic model.
Worcester Polytechnic Institute
Major Qualifying Project
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Electrical and Computer Engineering