Modeling and simulation methodology for reconnaissance in VSW minefields with multiple autonomous vehicles

Modeling and simulation is an important tool for the evaluation of new concept systems. In particular, new system concepts are being developed for minefield reconnaissance and neutralization using robot vehicles. Also, with an emphasis on low cost, these systems are begin focussed on multi-robot capabilities using fleets of similar and dissimilar vehicles in cooperative behaviors. The problems of operating in the very shallow water areas (VSW) are increased by the action of waves and currents and uneven bottom topography. This paper will discuss the elements of modeling and simulation methodology for the study of system performance analysis in minefield reconnaissance and object mapping in VSW environments. Crawling and swimming vehicles are considered, although the focus is on the first. Vehicle locomotion models are proposed. Wave and current models are discussed by reference to other ongoing research. The modeling of object detection sensors, and vehicle navigation sensor are also given. Using these principles given above, reference is made to the importance of two types of simulator - a graphics based visualization simulator that views the interactive behavior of robots and environmental objects, and a Monte Carlo low resolution simulator that allows the study of system effectiveness. In an example of a VSW operation with crawling vehicles, results are given that illustrates the effect of control logic parameters, on the time it takes to complete the reconnaissance missions. Also, other control parameters are studied including the effect of changes in the detection range of the primary sensor.