View source for Projects:2017s1-160 Cooperating Autonomous Vehicles

'''Project 160: Cooperating Autonomous Vehicles
'''

'''Aim:''' Ronin uprising 

'''Project Advisors:'''

Prof. Michael Liebelt

Dr. Braedan Phillips  


'''Team members:'''

Mitchell Testen

Nathan Cartledge 

Zacharie Curl

Troy Hu




== Communication System ==

Units communicate via a dedicated WiFi network using UDP packets to minimize network traffic congestion. Packets contain the Sender’s ID, Destination ID and pre-defined messages to minimize packet size and latency. The packet structure is shown below:

[Sender, Destination, Message] 
Sender = 3 bytes, Destination = 3 bytes,message = 1 byte

These messages are routed by a central communication point called the “Brainbox”, that is responsible for:
Real-time system diagnostics 
System state management
Chain structure formation and organisation
Assigns the role of each Unit
Updating Followers’ Infrared targe


== Dynamic Chain Formation ==

The developed cooperative behaviour allows the units to form a chain with designated ‘Leader’ and ‘Follower’ units to maintain a “real-time” census of members participating in a formation. 

The units participating in the formation take one of two roles:
Leader - follows a predefined path or can be remotely controlled. 
Follower - tracks  encoded Infrared signal containing the Leader’s unique IDl to seek and maintain a position in the formation.