Problema de perseguição-evasão baseado em random walk

• Autor(a) principal: Gonçalves, Antônio Renato Cruz
• Data de Publicação: 2016
• Tipo de documento: Dissertação
• Idioma: por
• Título da fonte: Repositório Institucional da UFS
• Texto Completo: https://ri.ufs.br/handle/riufs/5023
• topic: Engenharia elétrica; Passeio aleatório; Probabilidades; Perseguição-evasão; Sistemas de múltiplos robôs; Visão limitada; Random walk; Grade de ocupação; Pursuit-evasion; Multi-robots systems; Limited sensing; Occupancy grid; ENGENHARIAS::ENGENHARIA ELETRICA

One of the greatest reasons to use robotics rather than human beings is to avoid hazardous situations such as activities related to search, surveillance and rescue. The pursuit-evasion problem is a fundamental theoretical base to apply robotics on these cases. This dissertation presents an approach to solve the pursuit-evasion problem with no previous knowledge of the map, which must be simply connected, using multi-robots systems with limited sensing. The approach is based on the random walk, since it is a mathematical formalization probabilistically complete, considering plane and obstacle free environments that shall be treated discretely through a regular occupation grid. This dissertation also presents a variation of this approach, though it considers random walk probabilities, to enhance the previous approach, decreasing the amount of iterations needed to solve the problem. In order to validate what is proposed, a discrete multi-robot simulation environment was developed. Finally, the results obtained on the tests that were performed and possible future works that could improve this approach are discussed.