Autonomous Transportation Testbed
Develop and experimentally validate a networked transportation testbed integrating a MATLAB digital twin, OptiTrack Motive/NatNet localization, ground vehicles, Tello drones, and embedded controllers.
- Built real-time localization and map-registration paths using rigid-body tracking, coordinate transforms, calibration, and tracking-health checks.
- Developed path following, waypoint navigation, collision safety, and reservation-based intersection coordination for heterogeneous vehicles.
- Developed a 20 Hz multi-drone feedback controller with independent state, PID memory, safety logic, diagnostics, and nonblocking UDP commands.
6DoF pose
Control + coordination
TCP / UDP