By Topic

Low Cost Distributed Control System for Autonomous Vehicles

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
G. J. Beidler ; Research Engineer, University of Idaho Department of Electrical and Computer Engineering ; R. W. Wall

A fleet of autonomous underwater vehicles was developed to field test control algorithms for cooperative behavior. Researchers and engineers at the University of Idaho require a low cost test platform capable of underwater communications to coordinate activities associated with multi-agent autonomous behavior. On each vehicle, a distributed approach to vehicle control uses five off-the-shelf 8-bit microprocessors that communicate together using Ethernet. This architecture provides many advantages over the traditional, centralized architecture, including ease of implementation, low cost, and reduced error rates during the design phase. This paper describes the process of distributing functional software tasks among the hardware in a way that minimizes the burden of inter-processor communications to take advantage of concurrent design concepts.

Published in:

OCEANS 2006 - Asia Pacific

Date of Conference:

16-19 May 2007