The SCIT multi-vehicle networked control testbed

This paper describes the SCIT (Space Control and Inertial Technology Research Center of HIT) multi-vehicle control system, a platform for testing networked control methodologies of multiple vehicles coordination and formation, and image processing. The system is consisted of three subsystems: the console system, the vision system and the vehicle system. The console system mainly generates the control commands through the given command information and the state information sent by the vision system, and then sends them to the vehicles. The function of the vision system is to identify the vehicle ID and calculate the state information (including the orientation and the velocity) of the vehicles. The vehicle system is consisted of some sensors and wireless Ethernet for communication. The development of the system is introduced in this paper, and the obstacle avoidance algorithm when vehicles are running is provided.