Autonomous vehicle coordination with wireless sensor and actuator networks

Mihai Marin-Perianu, Stephan Bosch, Raluca Marin-Perianu, Hans Scholten, Paul Havinga
2010 ACM Transactions on Autonomous and Adaptive Systems  
A coordinated team of mobile wireless sensor and actuator nodes can bring numerous benefits for various applications in the field of cooperative surveillance, mapping unknown areas, disaster management, automated highway and space exploration. This paper explores the idea of mobile nodes using vehicles on wheels, augmented with wireless, sensing and control capabilities. One of the vehicles acts as a leader, being remotely driven by the user, the others represent the followers. Each vehicle has
more » ... a low-power wireless sensor node attached, featuring a 3D accelerometer and a magnetic compass. Speed and orientation are computed in real time using inertial navigation techniques. The leader periodically transmits these measures to the followers, which implement a lightweight fuzzy logic controller for imitating the leader's movement pattern. We report in detail on all development phases,
doi:10.1145/1867713.1867714 fatcat:rjnmpnp2ljd6rotncjwlwnyufi