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Cooperative Control of Ground and Aerial Vehicles
KTH, School of Electrical Engineering (EES), Automatic Control.
2012 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Recent developments in the theoretical field of multi-agent systems and

cooperative control have driven a growing interest towards the area of autonomous

transportation, surveillance and other applications. This thesis is

an attempt to close the gap between the fields of theoretical and experimental

control systems.

To close this gap it is essential to create a reliable software and hardware

infrastructure that can be used to test the applicability and performance of

the controllers developed in theory under artificial constrains. In this thesis

we will present a feasible implementation of an experimental testbed, covering

both the hardware and software components of it.

To build this testbed and show its operability, scenarios of multi-agent systems

such as platooning and surveillance were implemented using scale models

of Scania trucks and quadrotors. In this thesis we study the problem starting

with the theoretical analysis of the vehicle dynamics, performing simulations

and finally carrying out the experiments in the testbed.

The result of this thesis is a reliable and versatile testbed that can be

used to perform demonstrations of multi-agent robotic systems. The core of

the program is developed in LabVIEW, the wireless communication is done

using NesC and TinyOS, the simulations are developed in Simulink and the

Visualization Engine is written in C++.

The path taken to build this testbed has proven to be successful, allowing

us to control multiple vehicles simultaneously under the intuitive LabVIEW

programming environment. This document serves as a guide for those who

wish to carry out experiments using the infrastructure developed here or those

who wish to improve upon the existing work.

Place, publisher, year, edition, pages
2012. , 182 p.
EES Examensarbete / Master Thesis, XR-EE-RT 2012:018
National Category
Electrical Engineering, Electronic Engineering, Information Engineering Control Engineering
URN: urn:nbn:se:kth:diva-101438OAI: diva2:547617
Available from: 2012-08-30 Created: 2012-08-28 Last updated: 2012-08-30Bibliographically approved

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XR-EE-RT 2012-018_Alejandro Marzinotto(50093 kB)4954 downloads
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