Design of a dynamic distributed CPS application for unmanned ground vehicles

Sammanfattning: New challenges and opportunities arise as a result of an increasing demand of connecting devices in the context of the Internet of Things. Synergy eects can be achieved by connecting local devices through both wireless local networks and global infrastructures. These thoughts were applied in a military use case where the challenge was identied to reduce the risk of human lives in combat by letting an Unmanned Ground Vehicle (UGV) take over the highest risks during re control. This thesis covers the design and evaluation of a system that enhances the aiming control performance of a UGV by allocating image processing tasks to an adaptive local wireless distributed computation network. Background research was conducted through a state of the art survey, literature study and through structured interviews. The system was developed both as a simulation model in TrueTime, and a physical proof of concept demonstrator. A hypothesis was developed that involves a categorization of two classes of QoS arguments including sample rate and end-to-end delay. These two classes were used as a basis foran alyzing the control performance of the UGV in terms of accuracy and precision, and for analyzing the individual impact of the technical parameters of the system. Based on the initial hypothesis, the analysis concludes a potential theoretical speed-up in terms of sample rate of approximately 6 times when implementing wireless distributed computing over Wi-Fi compared, to when the processing tasks are completely managed by the UGV. However, the analysis confirms that the resulting control performance of the UGV is a clear trade-off between the dynamic distribution of computation and communication overheads.