Faculty Advisor

Cowlagi, Raghvendra V.

Faculty Advisor

Wyglinski, Alexander

Abstract

The objective of this project is to demonstrate the following interactive planning and sensing technique of coordinating actions for a team of autonomous vehicles. We consider the problem of planning the path of one of these vehicles, the actor, to traverse a threat field with minimum threat exposure. The threat field is estimated by measurements taken by several sensor vehicles. The actor and the sensors interact iteratively to converge upon sensor placement in the domain and a path with minimum expected threat exposure to the actor. The actor vehicle is implemented by a differential-drive robot, whereas the sensor vehicles are implemented by quadrotors designed to localize and fly themselves indoors. Test results are reported for each of the subsystems involved in the experimental setup.

Publisher

Worcester Polytechnic Institute

Date Accepted

March 2018

Major

Interdisciplinary

Major

Aerospace Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Mechanical Engineering

Advisor Department

Electrical and Computer Engineering

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