Autonomous Vehicle Coordination with Wireless Sensor and Actuator Networks


Marin-Perianu, Mihai and Bosch, Stephan and Marin-Perianu, Raluca and Scholten, Hans and Havinga, Paul (2010) Autonomous Vehicle Coordination with Wireless Sensor and Actuator Networks. ACM Transactions on Autonomous and Adaptive Systems (TAAS), 5 (4). ISSN 1556-4665

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Abstract:A coordinated team of mobile wireless sensor and actuator nodes can bring numerous benefits for various applications in the field of cooperative surveillance, mapping unknown areas, disaster management, automated highway and space exploration. This article explores the idea of mobile nodes using vehicles on wheels, augmented with wireless, sensing, and control capabilities. One of the vehicles acts as a leader, being remotely driven by the user, the others represent the followers. Each vehicle has a low-power wireless sensor node attached, featuring a 3D accelerometer and a magnetic compass. Speed and orientation are computed in real time using inertial navigation techniques. The leader periodically transmits these measures to the followers, which implement a lightweight fuzzy logic controller for imitating the leader's movement pattern. We report in detail on all development phases, covering design, simulation, controller tuning, inertial sensor evaluation, calibration, scheduling, fixed-point computation, debugging, benchmarking, field experiments, and lessons learned.
Item Type:Article
Copyright:© 2010 ACM
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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