An economical micro-car testbed for validation of cooperative control strategies

摘要

This paper describes the design of an economical cooperative control testbed using 1/64 size micro-car vehicles. The vehicles have similar motion constraints to those found in common kinematic models for UAVs. We demonstrate the practical use of this testbed for algorithm validation by implementing a recently proposed UAV-routing algorithm [J. J. Enright et al Proc. AIAA Conf. Guidance, Nav. and Control, 2005]. The experimental results lie within the theoretical bounds predicted for this algorithm.