System Design 10/26/2017

Functional Architecture

Functional Architecture

 

Cyberphysical Architecture

Cyberphysical Architecture

The focus of the project is to map an entrapment scenario and liberate the entrapped rover.

The rescuing operation would carried out by a peer-rover that is able to capture a 2nd person perspective of the scenario. 

The entrapped rover is alternatively referred to as a stuck rover and the peer-rover that sets about to the rescue to the stuck rover is called a rescue rover or a rescuer.

 

A rover’s mathematical model (kinematics) are as follows:

Therefore, given its pose [x, y, Θ] we can control the actuators by using corresponding homogeneous transformations.