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dc.contributor.authorClemmensen, Jr., John Scotten_US
dc.date.accessioned2014-03-14T20:41:57Z
dc.date.available2014-03-14T20:41:57Z
dc.date.issued2007-07-11en_US
dc.identifier.otheretd-07252007-145150en_US
dc.identifier.urihttp://hdl.handle.net/10919/34165
dc.description.abstractDue to the limitations of GPS in areas where line of sight to the sky is obstructed the development of a GPS-free algorithm for relative formation control is an asset to collaborative vehicles. This paper presents a novel approach based on the Received Signal Strength Indication (RSSI) measurement between broadcast and receive nodes to calculate distance and using the data transfer capability to allow each vehicle to develop a table of relative positions. These relative positions are used to create a potential field that results in an absolute minimum at the vehicles desired position. All vehicles are numbered sequentially. The numbering defines the order in which they will broadcast their data, as well as their position along the perimeter. This thesis looks at two control methods for achieving a formation. The first is the circular motion method that puts perimeter nodes in an orbit around around the perimeter center. The second is a gradient descent method that calculates the gradient of the potential field. Both methods achieve a formation when all perimeter nodes are at their absolute minimums in the potential field. Tests were conducted to analyze RSSI measurements using the 802.15.4 protocol, and a mathematical simulation was conducted for each control algorithm.en_US
dc.publisherVirginia Techen_US
dc.relation.haspartJohn_Clemmensen_Thesis.pdfen_US
dc.rightsI hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dissertation, or project report, allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to Virginia Tech or its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report.en_US
dc.subjectRange Baseden_US
dc.subjectZigbeeen_US
dc.subjectFormation Controlen_US
dc.subjectUnmanneden_US
dc.titleDesign of a Control System for Multiple Autonomous Ground Vehicles to Achieve a Self Deployable Security Perimeteren_US
dc.typeThesisen_US
dc.contributor.departmentElectrical and Computer Engineeringen_US
dc.description.degreeMaster of Scienceen_US
thesis.degree.nameMaster of Scienceen_US
thesis.degree.levelmastersen_US
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen_US
thesis.degree.disciplineElectrical and Computer Engineeringen_US
dc.contributor.committeechairWicks, Alfred L.en_US
dc.contributor.committeememberBaumann, William T.en_US
dc.contributor.committeememberReinholtz, Charles F.en_US
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-07252007-145150/en_US
dc.date.sdate2007-07-25en_US
dc.date.rdate2007-08-27
dc.date.adate2007-08-27en_US


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