Design of a Control System for Multiple Autonomous Ground Vehicles to Achieve a Self Deployable Security Perimeter

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dc.contributor.authorClemmensen, John Scott Jr.en
dc.contributor.committeechairWicks, Alfred L.en
dc.contributor.committeememberBaumann, William T.en
dc.contributor.committeememberReinholtz, Charles F.en
dc.contributor.departmentElectrical and Computer Engineeringen
dc.date.accessioned2014-03-14T20:41:57Zen
dc.date.adate2007-08-27en
dc.date.available2014-03-14T20:41:57Zen
dc.date.issued2007-07-11en
dc.date.rdate2007-08-27en
dc.date.sdate2007-07-25en
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
dc.description.degreeMaster of Scienceen
dc.identifier.otheretd-07252007-145150en
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-07252007-145150/en
dc.identifier.urihttp://hdl.handle.net/10919/34165en
dc.publisherVirginia Techen
dc.relation.haspartJohn_Clemmensen_Thesis.pdfen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectRange Baseden
dc.subjectZigbeeen
dc.subjectFormation Controlen
dc.subjectUnmanneden
dc.titleDesign of a Control System for Multiple Autonomous Ground Vehicles to Achieve a Self Deployable Security Perimeteren
dc.typeThesisen
thesis.degree.disciplineElectrical and Computer Engineeringen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameMaster of Scienceen

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