This paper addresses the problem of robotic operations in the presence of adversarial forces. We presents a complete framework for survey operations: waypoint generation,modelling of forces and tuning the control. In many applications of environmental monitoring, search and exploration, and bathymetric mapping, the vehicle has to traverse in straight lines parallel to each other, ensuring there are no gaps and no redundant coverage. During operations with an Autonomous Surface Vehicle (ASV) however, the presence of wind and/or currents produces external forces acting on the vehicle which quite often divert it from its intended path. Similar issues have been encountered during aerial or underwater operations. By measuring these phenomena, wind and current, and modelling their impact on the vessel, actions can be taken to alleviate their effect and ensure the correct trajectory is followed.
翻译:本文论述在敌国部队在场的情况下机器人操作问题,我们为勘测作业提供一个完整的框架:路点生成、部队建模和调控;在环境监测、搜索和勘探以及测深绘图的许多应用中,飞行器必须穿行平行直线,确保没有缺口和冗余;然而,在使用自动地表飞行器(ASV)的行动中,风力和/或流能产生外部力量,使飞行器偏离预定路线;在空中或水下行动中也遇到类似问题;通过测量这些现象、风力和水流以及模拟其对船只的影响,可以采取行动减轻其影响,确保遵循正确的轨迹。