This project aims to design a fleet of mini-boats that are able to form a formation. A first step is to control a single boat using advanced control techniques. Then it will be extended to the control of mulitple boats. Path planning and obstacle avoidance algorithms also need to be developed.
Build an experimental platform consisting of several mini-boats and apply advanced control techniques to effectively control the fleet (e.g., form a formation, avoid static or dynamic obstacles, etc.)
Applicant's Learning Objectives:
1. Design a fleet system from modeling to implemention; 2. Learn various advanced control techniques such as LQR, LQG, PID, and Kalman filter.