Boundary Tracking
Goal given a density field, we want the vehicle to
find the boundary (where d(k) = B) and track along it
Basic algorithm rotate one way when inside the boundary
and the opposite way when outside boundary
Solution:
We modify our algorithm based on the time it takes to cross the boundary t and a predetermined reference angle
CUSUM filter
But this modification relies on accurate record of the boundary crossing times, so we need to find a way to deal eliminate noise in our data
We implement a cumulative sum algorithm to create a “high side” filter and a “low side” filter to increase accuracy
Multiple vehicle boundary estimation
We assume the approximate boundary is a Markov model based on the state of the system s(k)
Optimization
We then assume the boundary can be represented by an ellipse and formulate boundary estimation as an optimization problem
Coupling Control Laws
Local coupling allows vehicles to follow other vehicles within their field of vision
Also, stronger coupling between a designated leader and followers