June 15, 2014
June 15, 2014
June 18, 2014
Ocean and Marine
24.59.1 - 24.59.10
A Laboratory Exercise - Unmanned Vehicle Control and Wireless Sensor NetworksAbstractWith the ever decreasing cost of processors and electronics in general, wireless sensor networks(WSNs) are increasingly being utilized for environmental measurements. Different WSNtopologies will allow different sensor coverages and energy utilizations for a given application.These WSNs can then be utilized as “extra eyes and ears” for an unmanned vehicle traversing theenvironment. A vehicle’s path and control can be improved by using the WSN more efficientlyto ensure proper vehicle operation in the given application.At a new lab exercise for an unmanned vehicle such as an underwatervehicle or surface vehicle has been created for students to demonstrate how the sensor networkimproves the vehicle’s control and path planning. Simple sensor models are developed in theexercise. The physics based model is analyzed for the vehicle. The lab exercise next develops thecontrol of the vehicle system which uses “simulated sensor” inputs from the WSN and has thestudent analyze the corresponding closed loop control system utilizing the “simulated sensornetwork” inputs. The closed loop system is simulated utilizing Matlab. The lab demonstrates tostudents the increased utilization of WSNs for use in various applications such as controlsystems.
McLauchlan, L., & Mehrubeoglu, M. (2014, June), A Laboratory Exercise - Unmanned Vehicle Control and Wireless Sensor Networks Paper presented at 2014 ASEE Annual Conference & Exposition, Indianapolis, Indiana. https://peer.asee.org/19951
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