Kelly Impelementation
The greedy search algorithm is implemented on the Kelly, shown above. The Kelly
is propelled by two fans and rolls on omni-directional casters.
The point to point controller on each Kelly is implemented using the
Virtual Attractive Repulsive Potential control method.
The figures from the links below show the paths of two Kellys performing the greedy search algorithm with four
targets. The solid colored triangle and solid colored circle represent
the vehicle current locations, and the solid lines that follow them are
their paths. The radii of the circles around the vehicles represent half
the distance over which the vehicles can communicate; thus the vehicles
communicate when the circles intersect. The vehicle communication range
is 1.5 m, so the circles have radii of 0.75 m. The squares with x’s in them
represent the target locations. The axes are labeled in meters.
