Autonomous path planning is an important application in the field of robotics and control systems engineering, especially with the rapid development and commercialization of self-driving cars and unmanned autonomous vehicles. Some of the biggest concerns in these cyber-physical systems are safety and security. Many different attacks can be and have been conducted on either the physical or cyber layer of these systems, and these attacks can cause devastating consequences. In this project, the team investigates techniques for planning and following a trajectory in the presence of an adversary who spoofs one or more sensors on a wheeled robot platform. The robot platform that the team uses is a Turtlebot 3 Burger controlled by an LQG controller.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Le, Minh Hoang
• Letherbarrow, Christopher Michael

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-121319-134244

Advisor

• Clark, Andrew

Year

• 2019

Date created

• 2019-12-13

Resource type

• Major Qualifying Project

Major

• Electrical & Computer Engineering

Rights statement

• In Copyright