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Development of an Autonomous Hovercraft Swarming Technology

Development of an Autonomous Hovercraft Swarming Technology. Developed by: Matthew Buckle Mario Chiu Jeffrey Spieldenner Clement Suhendra. Current Developments. One functional hovercraft Bang-bang control implementation Single Attractive / Repellant beacon system. Future Plans.

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Development of an Autonomous Hovercraft Swarming Technology

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  1. Development of an Autonomous Hovercraft Swarming Technology Developed by: Matthew Buckle Mario Chiu Jeffrey Spieldenner Clement Suhendra

  2. Current Developments • One functional hovercraft • Bang-bang control implementation • Single Attractive / Repellant beacon system

  3. Future Plans • Development of waypoint navigation system • Transition from bang-bang control to 3-point control • Creation of a hovercraft swarm • Possible H-bridge implementation

  4. Waypoint Navigation System • Deadline: 9-29-06 • Hovercraft will follow a predefined path of at least 3 waypoint beacons • How will it know which beacon to move towards? • How will it know when it reaches said beacon?

  5. 3-Point Control • Deadline: 10-15-06 • Advantages of 3-point versus Bang-bang control • Hovercraft motion is less oscillatory • Hovercraft will reach target in less time • Disadvantages • Unsure if current circuit set-up will allow for a true 3-point control • Hovercraft will reach target in less time

  6. The Swarm • Deadline: 11-15-06 • Have a swarm of at least 3 hovercraft follow a single, leading, hovercraft • Must ensure that the hovercraft do not crash into each other • Must develop a communication scheme between the hovercraft

  7. Assuming Smooth Sailing… • H-Bridge Implementation • Allows for a much more linear control scheme than Bang-bang or 3-point • Further Swarming Developments • Have the swarm encircle a target area

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