An economical micro-car testbed for validation of cooperative control strategies
C.H. Hsieh, Yao-Li Chuang, Yuan R. Huang, Kaitlin Leung, Andrea Louise Bertozzi, Emilio Frazzoli · 2006
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