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Autonomous vehicle coordination with wireless sensor and actuator networks

Autonomous vehicle coordination with wireless sensor and actuator networks Autonomous Vehicle Coordination with Wireless Sensor and Actuator Networks MIHAI MARIN-PERIANU, STEPHAN BOSCH, RALUCA MARIN-PERIANU, HANS SCHOLTEN, and PAUL HAVINGA University of Twente A coordinated team of mobile wireless sensor and actuator nodes can bring numerous bene ts for various applications in the eld 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, xed-point computation, debugging, benchmarking, eld experiments, and lessons learned. Categories and Subject Descriptors: C.2.1 [Computer-Communication Networks]: Network Architecture and Design ”Wireless communication General Terms: Algorithms, Design, Experimentation, Measurement, Performance Additional Key Words and http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png ACM Transactions on Autonomous and Adaptive Systems (TAAS) Association for Computing Machinery

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Publisher
Association for Computing Machinery
Copyright
Copyright © 2010 by ACM Inc.
ISSN
1556-4665
DOI
10.1145/1867713.1867714
Publisher site
See Article on Publisher Site

Abstract

Autonomous Vehicle Coordination with Wireless Sensor and Actuator Networks MIHAI MARIN-PERIANU, STEPHAN BOSCH, RALUCA MARIN-PERIANU, HANS SCHOLTEN, and PAUL HAVINGA University of Twente A coordinated team of mobile wireless sensor and actuator nodes can bring numerous bene ts for various applications in the eld 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, xed-point computation, debugging, benchmarking, eld experiments, and lessons learned. Categories and Subject Descriptors: C.2.1 [Computer-Communication Networks]: Network Architecture and Design ”Wireless communication General Terms: Algorithms, Design, Experimentation, Measurement, Performance Additional Key Words and

Journal

ACM Transactions on Autonomous and Adaptive Systems (TAAS)Association for Computing Machinery

Published: Nov 1, 2010

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