Intelligent control methods for swarm robotic systems for environment monitoring, and search and rescue operations

用于环境监测和搜救行动的群体机器人系统的智能控制方法

• 批准号: 261621-2008
• 负责人: RamirezSerrano, Alejandro
• 金额: $ 1.31万
• 依托单位: University of Calgary
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2008
• 资助国家: 加拿大
• 起止时间: 2008-01-01 至 2009-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=395134
• 关键词: Intelligent; control; methods; swarm; robotic

Robotic unmanned vehicle systems (UVS) have been used in various natural, terrorists and accidental missions and emergencies since 9/11, sometimes with success, but more often confirming their potential. Numerous Canadian organizations such as the RCMP, Canadian Search & Rescue (SAR), Parks and Recreation Canada, and the military have considered the use of ground, aerial and underwater UVS for their daily operations. Despite their relative success and their great promise for tasks such as SAR, environment monitoring, forest fire prevention and monitoring, etc. a great amount of work must be done across a number of disciplines before the full potential of UVS can be fully realized. The proposed research will develop effective tools to enable swarms of heterogeneous UVS to execute complex operations in team settings in the areas of SAR, reconnaissance, surveillance and environment monitoring. We will develop hardware and software tools including intelligent control and monitoring mechanisms to enable groups of robots to cooperate and perform complex tasks for the effective utilization of their equipment according to changing task specifications and environmental conditions. The methodologies to be developed for portable multi-robot systems will include ground, aerial and underwater UVS to allow a truly cooperative and distributed task execution. Ground and underwater vehicles will be used to investigate localized ground and surface situations while aerial robotic vehicles will be used to monitor geographically distributed missions. Novel control and cooperation methodologies will be developed to allow these vehicles share information, plan their cooperative actions intelligently, and help each other under diverse, system and environmental, disturbances. It is envisioned that heterogeneous robot teams will be able to cope with frequent changes in mission specifications, external and internal disturbances while still been able to accomplish their mission as planned. With such systems users will be able to use UVS for the execution of the given mission under adverse conditions which is not possible today using current technologies.

自 9/11 以来，机器人无人驾驶车辆系统 (UVS) 已被用于各种自然、恐怖分子和意外任务和紧急情况，有时取得成功，但更多时候证实了其潜力。许多加拿大组织，例如加拿大皇家骑警、加拿大搜救局 (SAR)、加拿大公园和娱乐局以及军队，都考虑在日常行动中使用地面、空中和水下 UVS。尽管它们取得了相对成功，并且在SAR、环境监测、森林防火和监测等任务方面前景广阔，但在充分发挥UVS的全部潜力之前，还需要跨多个学科开展大量工作。拟议的研究将开发有效的工具，使异构无人艇群能够在搜寻与援救、侦察、监视和环境监测领域的团队环境中执行复杂的行动。我们将开发包括智能控制和监控机制在内的硬件和软件工具，使机器人组能够协作并执行复杂的任务，以便根据不断变化的任务规格和环境条件有效利用其设备。为便携式多机器人系统开发的方法将包括地面、空中和水下 UVS，以实现真正的协作和分布式任务执行。地面和水下飞行器将用于调查局部地面和表面情况，而空中机器人飞行器将用于监测地理分布的任务。将开发新的控制和协作方法，使这些车辆能够共享信息，智能地规划其协作行动，并在不同的系统和环境干扰下互相帮助。预计异构机器人团队将能够应对任务规格的频繁变化、外部和内部干扰，同时仍然能够按计划完成任务。有了这样的系统，用户将能够在不利条件下使用 UVS 执行给定的任务，而这在目前的技术下是不可能实现的。