Evolving controllers for autonomous robot search teams

摘要

Deploying autonomous robot teams instead of humans in hazardous search and rescue missions could provide immeasurable benefits. In such operations, rescue workers often face environments where information about the physical conditions is impossible to obtain, which not only hampers the efficiency and effectiveness of the effort, but also places the rescuers in life-threatening situations. These types of risk promote the potential for using robot search teams in place of humans. This article presents the design and implementation of controllers to provide robots with appropriate behavior. The effective utilization of genetic algorithms to evolve controllers for teams of homogeneous autonomous robots for area coverage in search and rescue missions is described, along with a presentation of a robotic simulation program which was designed and developed. The main objective of this study was to contribute to efforts which attempt to implement real-world robotic solutions for search and rescue missions.