Cooperative control of a squad of mobile vehicles

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Description

Tasks such as the localization of chemical sources, demining, perimeter control, surveillance and search and rescue missions are usually performed by teams of people. At least conceptually, large groups of relatively cheap mobile vehicles outfitted with sensors should be able to automatically accomplish some of these tasks. Sandia National Labs is currently developing a swarm of semi-autonomous all terrain vehicles for remote cooperative sensing applications. This paper will describe the capabilities of this system and outline some of its possible applications. Cooperative control and sensing strategies will also be described. Eight Roving All Terrain Lunar Explorer Rovers (RATLERs) have been ... continued below

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4 p.

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Lewis, C.; Feddema, J. & Klarer, P. September 1, 1998.

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Description

Tasks such as the localization of chemical sources, demining, perimeter control, surveillance and search and rescue missions are usually performed by teams of people. At least conceptually, large groups of relatively cheap mobile vehicles outfitted with sensors should be able to automatically accomplish some of these tasks. Sandia National Labs is currently developing a swarm of semi-autonomous all terrain vehicles for remote cooperative sensing applications. This paper will describe the capabilities of this system and outline some of its possible applications. Cooperative control and sensing strategies will also be described. Eight Roving All Terrain Lunar Explorer Rovers (RATLERs) have been built at Sandia as a test platform for cooperative control and sensing applications. This paper will first describe the hardware capabilities of the RATLER system. Then it will describe the basic control algorithm for GPS based navigation and obstacle avoidance. A higher level cooperative control task will then be described.

Physical Description

4 p.

Notes

INIS; OSTI as DE98006233

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  • International conference - control and application, Honolulu, HI (United States), 12-14 Aug 1998

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  • Other: DE98006233
  • Report No.: SAND--98-1944C
  • Report No.: CONF-980824--
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 639807
  • Archival Resource Key: ark:/67531/metadc699357

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Office of Scientific & Technical Information Technical Reports

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  • September 1, 1998

Added to The UNT Digital Library

  • Aug. 14, 2015, 8:43 a.m.

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  • May 5, 2016, 8:01 p.m.

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Lewis, C.; Feddema, J. & Klarer, P. Cooperative control of a squad of mobile vehicles, article, September 1, 1998; United States. (digital.library.unt.edu/ark:/67531/metadc699357/: accessed September 25, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.