Implementation of a multiple robot frontier-based exploration system as a testbed for battlefield reconnaissance support
Loading...
Authors
Hillmeyer, Patrick A.
Subjects
Robotics
Multiple Robots
Sensor Fusion
Battlefield Reconnaissance
Multiple Robots
Sensor Fusion
Battlefield Reconnaissance
Advisors
Yun, Xiaoping
Date of Issue
1998-06-01
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
Future military battlefields will see smaller forces responsible for ever increasing geographical areas. In addition, future conflicts will occur more often in urban or built-up areas. Both of these trends argue for some type of augmentation for initial reconnaissance, continued observation, and control of lines of communication and other key terrain features. Multisensor systems, mounted on a variety of robotic platforms, can provide this type of battlefield support where it is needed most. However, before costly decisions concerning the details of such systems can be made, basic research needs to be conducted regarding their most effective composition and utilization. Prior to this time all multiple robot studies at this institution had only taken place in simulated environments. This thesis implements a real-world multiple robot system that uses a technique known as frontier-based exploration to explore and map a laboratory or office environment. In doing so, many previously hidden aspects of multiple robot systems, unnoticeable in simulation-only studies, become evident. The results developed here are compared to results obtained elsewhere involving other robotic platforms. This research lays the foundation for future research involving multiple robots interacting as a system in a real-world environment and acting towards a common or shared goal
Type
Thesis
Description
Series/Report No
Department
Electrical and Computer Engineering
Organization
Identifiers
NPS Report Number
Sponsors
Funding
Format
xii, 318 p.;28 cm.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
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.