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Unmanned Ground Vehicles

This project aims at developing a swarm of Unmanned Ground Vehicles (UGVs) capable of performing a mission.​

The project involves several components that go from control design to embedded system, software development and image processing. In particular, the focus of the project is to:

  • Develop the control algorithms for the robots. Students will develop high-level control algorithms to determine the speed and steering rate that will allow the robots to go from point A to point B. At the same time, low-level control algorithms will have to be designed to control the motors to achieve the desired speed and steering rate; 
  • Develop a path planning strategy that will decide, given a mission, the optimal path that the robot should follow. This strategy will include collision avoidance algorithms;
  • Develop a virtual GPS system. The robots will be equipped with a GPS system for outdoor testing. Because the GPS system is not going to work in our indoor lab, a virtual GPS system will be designed for the lab. In particular, each robot will be assigned a unique marker and one or multiple cameras will be installed in the ceiling to capture pictures of the robot formation. An image processing algorithm will elaborate the pictures and determine real-time the position of the robots based on their unique identifier.
  • Develop an image processing algorithm that will allow the robots to recognize know targets. A picture of the know target will be used and compared against the images collected by the robot's camera to identify the target.

 


 

The project is sponsored by the MIT Lincoln Laboratory

MITLL Mentors: Tim Gallagher and David Browne