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.