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Abstract

Sentel/Brilliant Innovations has developed autonomous UGVs (unmanned ground vehicles) capable of generating a map of an unknown location through exploration using local software and the power of Google Tango technology. This project was tasked with developing an efficient and capable map-stitching solution allowing multiple UGVs to coordinate their movements and share information in order to greatly improve the speed at which these drones can be used to generate maps. The solution utilizes the processing power of a Raspberry Pi to pull maps from a Redis server and stitch them together. Once stitched, the maps are redistributed via the Redis server back through the network, providing every UGV the opportunity to obtain the global map. All of this stitching is performed on a single UGV, freeing the other drones to focus on generating and uploading their own unique maps to the server. The drones can use this new information to better inform their next move to prevent multiple drones from generating a map of the same location. In the future, Sentel/Brilliant Innovations hopes to take this technology and attach more advanced sensors to the drones, allowing them to add greater detail of the environment to the map rather than simply drawing boundaries. These drones have many potential applications, such as search and rescue, seeking out potential hazards, and intelligence for military and civil use.

Publication Date

2017

Keywords

UGV (unmanned ground vehicle), Map-stitching, Raspberry Pi, Autonomous

Disciplines

Electrical and Computer Engineering | Engineering

Faculty Advisor/Mentor

Dr. Robert Klenke

VCU Capstone Design Expo Posters

Rights

© The Author(s)

Date of Submission

May 2018

Collaborative Collective Algorithms to Coordinate UGVs [View Image]

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