Multiple Autonomous Vehicle Solutions to Minefield Reconnaissance and Mapping
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Authors
Healey, A.J.
Kim, J.
Subjects
Robotics
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Mines
Control
Autonomous Systems
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Mines
Control
Autonomous Systems
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Date of Issue
1999
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Abstract
Modeling and Simulation is an important tool for the evaluation of new concept systems. In particular, new system concepts are being developed for minefield reconnaissance and neutralization using robot vehicles. Also, with an emphasis on low cost, these systems are being focussed on multi-robot capabilities using fleets of similar and dissimilar vehicles in cooperative behaviors. The problems of operating in the very shallow water areas (VSW) are increased by the action of waves and currents and uneven bottom topography. This paper will discuss the elements of modeling and simulation methodology for the study of system performance analysis in minefield reconnaissance and object mapping in Very Shallow Water (VSW) 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- a graphics based visualization simulator that views the interactive behavior of robots and environmental objects, and a Monte Carlo low resolution simulator that allows the study of system effectiveness. In an example of a VSW operation with crawling vehicles, results are given that illustrates the effect of control logic parameters, on the time it takes to complete the reconnaissance mission. Also, other control parameters are studied including the effect of changes in the detection range of the primary sensor.
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Conference Paper
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Proceedings of Australian-American Joint Conference on the Technologies of Mines and Mine Countermeasures, Sydney, Australia, July 12-16, 1999
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Healey, A.J., Kim, J., "Multiple Autonomous Vehicle Solutions to Minefield Reconnaissance and Mapping" Proceedings of Australian-American Joint Conference on the Technologies of Mines and Mine Countermeasures, Sydney, Australia, July 12-16, 1999
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.