Difference between revisions of "Projects:2017s1-160 Cooperating Autonomous Vehicles"
| Line 23: | Line 23: | ||
| − | Communication System | + | |
| + | == 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: | 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: | ||
| Line 38: | Line 39: | ||
| − | Dynamic Chain Formation | + | == 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 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. | ||
Revision as of 15:54, 27 October 2017
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.
