AUTO-RECORM - BUGS: Algorithms and Cooperative Behavior for Enhancing UXO Clearance

摘要

This report deals with the use of a multi-vehicle robotic approach to PUCA operations for UXO clearance. The NAVEODTECHDIV has the 'RECORM' vehicle - a tele-operated vehicle enabling the user to search and visually detect and classify UXO targets. The operation is being automated and combined with the use of the BUGS system of low cost robots which perform the Pick-Up and Carry Away (PUCA) operations. This report provides the results of studies that look at the system effectiveness in terms of time to clear five different scenarios involving sub-munition clusters. The use of a dynamic zone allocation (DZA) strategy is found to be superior when the BUGS vehicles are used alone. However, the combined use of RECORM to do targeting, followed by BUGS using directed searching provides the best of all options.