Faculty Advisor

Clark, Andrew

Abstract

Autonomous path planning is an important application in the field of robotics and control systems engineering, especially with the rapid development and commercialization of self-driving cars and unmanned autonomous vehicles. Some of the biggest concerns in these cyber-physical systems are safety and security. Many different attacks can be and have been conducted on either the physical or cyber layer of these systems, and these attacks can cause devastating consequences. In this project, the team investigates techniques for planning and following a trajectory in the presence of an adversary who spoofs one or more sensors on a wheeled robot platform. The robot platform that the team uses is a Turtlebot 3 Burger controlled by an LQG controller.

Publisher

Worcester Polytechnic Institute

Date Accepted

2019-12-13

Major

Electrical and Computer Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Electrical and Computer Engineering

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