Implementation of a multi-robot coverage algorithm on a two-dimensional, grid-based environment
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Authors
Huang, Jo-Wen
Subjects
path planning
exact cellular decompositions
multi-robot coverage algorithm
mine countermeasure
exact cellular decompositions
multi-robot coverage algorithm
mine countermeasure
Advisors
Bingham, Brian
Date of Issue
2017-06
Date
Jun-17
Publisher
Monterey, California: Naval Postgraduate School
Language
Abstract
With the development and advancement in the technology of control and multi-robot systems, robot agents are likely to take over mine countermeasure (MCM) missions one day. The path planning coverage algorithm is an essential topic for research; the combination of an efficient algorithm and accurate sensors can save time and human lives. The objective of this work is to implement a path planning coverage algorithm for a multi-robot system in a two-dimensional, grid-based environment. We assess the applicability of a topology-based algorithm to the MCM mission. First, we provide an overview of multi-robot coverage algorithms. Second, we select one algorithm, analyze it, and test its performance. Then the algorithm is evaluated in nine experiments using different numbers of robots and obstacles. Finally, the results are assessed by how much time the steps took and how many free points are not visited when the algorithm is finished. The outcome indicates that efficiency decreases as the number of robots or obstacles increases. This thesis concludes with recommendations for ways to improve the efficiency of the algorithm as well as how to perform the experiments cost effectively in a real environment.
Type
Thesis
Description
Series/Report No
Department
Mechanical and Aerospace Engineering (MAE)
Organization
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NPS Report Number
Sponsors
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Format
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
Copyright is reserved by the copyright owner.