A Laboratory Exercise - Unmanned Vehicle Control and Wireless Sensor Networks

With the ever decreasing cost of processors and electronics in general, wireless sensor networks (WSNs) are increasingly being utilized for environmental measurements. Different WSN topologies will allow different sensor coverage and energy utilization options for a given application. These WSNs can then be used as “extra eyes and ears” for an unmanned vehicle traversing the environment. A vehicle’s path and control can be improved by using the WSN more efficiently to ensure proper vehicle operation in the given application. At Texas A&M University-Kingsville, a new lab exercise for an unmanned surface vehicle has been created for students to demonstrate how the sensor network improves the vehicle’s control and path planning. A simple sensor model is implemented in the exercise. The physics-based model is analyzed for the vehicle. A “simulated sensor” input from the WSN results in the development of the control of the vehicle system during the laboratory exercise. Then the students compare the corresponding closed loop control system with and without the WSN input in a path planning application. The closed loop system is simulated with MATLAB software tool. The lab exercise demonstrates to the students the increased utilization of WSNs for various applications such as control systems.