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| Title: | Synthesis of a Controller for Swarming Robots Performing Underwater Mine Countermeasures |
| Authors: | Tan, YC |
| Keywords: | MINE COUNTERMEASURES
AUTONOMOUS NAVIGATION
UNDERWATER MINES
ROBOTS
HYBRID SYSTEMS
UNDERWATER EQUIPMENT |
| Issue Date: | 2004 |
| Abstract: | This Trident Scholar project involved the synthesis of a swarm controller that is suitable for controlling movements of a group of autonomous robots performing underwater mine countermeasures (UMCM). The main objective of this research project was to combine behavior-based robot control methods with systems-theoretic swarm control techniques to achieve a hybrid that has the best characteristics of both. The sub-goals were: a) To simulate and study a simplified version of the UMCM problem, in 2D with basic robot dynamics and behaviors. b) To investigate the performance of both behavior-based and systems-theoretic controllers for UMCM, and to determine their advantages and disadvantages. Careful development of behavior-based methods using a non-traditional differential equations approach facilitated the hybridization of the two controllers under study, giving rise to a more functional controller capable of controlling swarm level functions while executing the appropriate behaviors at the same time. |
| Description: | Citation Status: Active; Citation Classification: Unclassified; Title Classification: Unclassified; Report Classification: Unclassified; Identifier Classification: Unclassified; Abstract Classification: Unclassified; Distribution Limitation(s): 01 - APPROVED FOR PUBLIC RELEASE; Information provided by the Department of Defense and the Defense Technical Information Center (http://www.dtic.mil/) is considered public information and may be distributed or copied unless otherwise specified. Use of appropriate byline/photo/image credits is requested. |
| Gov't Doc # : | ADA424661
USNA-TSPR-328
XB-USNA |
| URI: | http://archive.rubicon-foundation.org/3590 |
| Appears in Collections: | Naval Academy
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Size | Format |
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| ADA424661.pdf | 1136Kb | Adobe PDF | View/Open |
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