Multiple autonomous vehicles for minefield reconnaissance and mapping

Abstract

The development of numerical search modeling for Autonomous Search Vehicles (ASV's) is an essential tool for development of ASV strategy using groups of small, crawling vehicles. Reconnaissance of surf-zone bottoms for mines and obstacles, as well as providing an environmental mapping capability, is the objective. These models allow numerical simulations to be conducted that determine the relationships between search times, target and obstacle sensing radius, vehicle speed and numbers of vehicles using simple, preprogrammed search strategies. The results from these simulations on intial models can then be used to determine the overall system performance.More complex models can then be developed using search strategies that include directed search, avoidance behaviors, networking and mapping with sufficient navigational accuracy. With sufficient information on their behavior of these vehicles, the ultimate goal of providing an autonomous reconnaissance and neutralization capability in very shallow water and surf zones can be realized.