Multi-robot team's behavioural algorithms for map building and path finder

Abstract

Consulta en la Biblioteca ETSI Industriales (8026)

[EN] This Master Thesis has been developed on the basis of the goals and research questions posed by the GUARDIANS project. GUARDIANS is a EU funded project [41], the main objective of which is to deploy a swarm of robots to assist a fire fighter in the event or danger of fire. When a fire fighter goes inside a building where fire is being developed, they need help in determining their position and orientation; as often a dense smoke accompanies the fire that reduces dramatically the fire fighter visibility and makes more difficult conducting rescue operations. The GUARDIANS robot swarm major tasks are to provide the fire fighter a robust support in determining their localisation, in leading them to the points of interests in the environment and in indicating the escape routes. The present project deals with the design of new algorithms and improvement of the existing ones already developed in the GUARDIANS project, that concern with developing navigation robot's behaviours to achieve the aforementioned tasks. These behaviours are to navigate through the environment while moving in formation, to follow the leader, which can be either a human or a robot, and help the fire fighter in recognising the environment. The algorithms developed in this thesis provide the following basic behaviours: wall following, generation and keeping robots formation, path finder and map building behaviours. [14, 17].