Abstract
This paper focuses on designing a search algorithm that the DustySWARM team used in the 2019 NASA Swarmathon competition. The developed search algorithm will be implemented and tested on multiple rovers, a.k.a. Swarmies or Swarm Robots. Swarmies are compact rovers, designed by NASA to mimic Ants behavior and perform an autonomous search for simulated Mars resources. This effort aimed to assist NASA’s mission to explore the space and discover new resources on the Moon and Mars. NASA’s going-on project has the goal to send robots that explore and collect resources for analysis before sending Astronauts, as the swarm option is safer and more affordable. All rovers must utilize the exact algorithm and collaborate and cooperate to find all available resources in their search path and retrieve them to the space station location. Additionally, swarmies will autonomously search while avoiding obstacles and mapping the surrounding environment for future missions. This algorithm allows a swarm of six robots to search an unknown area for simulated resources called AprilTags (cubes with QR codes). The code was developed using C/C++, GitHub, and Robotics Operation Systems (ROS) and tested by utilizing the Gazebo Simulation environment and by running physical trials on the swarmies. The team analyzed a few algorithms from previous years and other researchers then developed the Radiating L-Shape Search (RLS) Algorithm. This paper will summarize the algorithm design, code development, and trial results that were provided to the NASA Space Exploration Engineering team.
Highlights
National Aeronautics and Space Administration (NASA) has been leading the space exploration since before humans even landed on the moon
After several virtual simulation and physical trials, the team was able to develop a new search algorithm that can be implemented in NASA Swarmathon rovers, by programming the swarmies to search a predefined quadrant in an L-shaped radiating fashion
The first proposed solution was to assign a quadrant of the home base to every rover, by assigning the quadrant x and y coordinates to each rover
Summary
National Aeronautics and Space Administration (NASA) has been leading the space exploration since before humans even landed on the moon. NASA is looking to utilize robots to their full potential, because there are many habitats in which humans will not be able to explore without costly equipment to protect them from the planets hazardous ecosystem [1,2,3]. This goal can be achieved by using small and inexpensive rovers to explore new planets surfaces while maintaining low costs. Costs would be kept low, but safeguarding our astronauts from potential dangers until planets have been analyzed enough to ensure their safety. Robots help prevent putting humans in hazardous situations and they will reduce the cost related to transporting humans
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