Control and random searching with multiple robots

摘要

This paper discusses the elements of modeling and simulation methodology for the study of system performance analysis in minefield reconnaissance and object mapping in very shallow water environments. Crawling and swimming vehicles are considered, although the focus is on the first. Vehicle locomotion models are proposed. Wave and current models are discussed by reference to other ongoing research. The modeling of object detection sensors, and vehicle navigation sensors are also given. Using these principles given above, reference is made to the importance of two types of simulator graphics based visualization simulator that views the interactive behavior of robots and environment objects, and a Monte Carlo low resolution simulator that allows the study of system effectiveness. Also, other control parameters are studied including the effect of changes in the detection range of the primary sensor.