Multi-UGV Experimental Platform Based on Cloud and Edge Control: Design and Implementation

Abstract

This paper presents a novel framework of a multi-UGV experimental platform based on cloud and edge control. Cloud control is introduced to the framework aiming at the problems caused by increasing amount of data as the number of UGV increases. In order to ensure the real-time control, edge control is also adopted in the framework. In addition, cloud workflow scheduling is considered in this paper, which involves finding the optimal mapping between computing resources and work tasks. An experiment of consensus-based dynamic role assignment was implemented on the designed platform to verify the feasibility and reliability in multi-UGV control.