Development of an Autonomous Hovercraft Swarming Technology

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Development of an Autonomous Hovercraft Swarming
Technology

• Developed by
• Matthew Buckle
• Mario Chiu
• Jeffrey Spieldenner
• Clement Suhendra

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Current Developments

• One functional hovercraft
• Bang-bang control implementation
• Single Attractive / Repellant beacon system

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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

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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?

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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

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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

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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