5Experimentation
Experimental validations of the formation controllers from the previous chapters were conducted to illustrate how the algorithms perform on an actual robotic platform. The physical implementation of the controllers and the results of each experiment are reported in this chapter.
5.1 Experimental Platform
The experiments were conducted using three of the customized Traxxas E‐Maxx electric UGVs shown in Figure 5.1. The UGV is about 48 cm in length and 38 cm in width, and is powered by two 7 C‐cell battery packs for a maximum voltage of 
V at full charge.
Figure 5.1Top view of the experimental UGV platform.
Several modifications were performed to the stock vehicle. The UGV's electronic speed controller was replaced with the RoboteQ SDC1130 H‐bridge motor amplifier. Furthermore, one of the two DC motors was disconnected to reduce the vehicle's maximum acceleration and speed. Additional springs were placed in the suspension to help support the weight of the sensing platform. Finally, the UGV was equipped with the following sensor/communication/processing suite:
- A Bosch BNO055 inertial measurement unit (IMU) equipped with three‐axis accelerometers/gyros and a magnetic compass. The BNO055 provides a sensor‐fused output for heading (i.e., tilt compensated).
- A US Optical ...
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