Análise de Escalabilidade de Método de Exploração e Mapeamento Bioinspirado no Formato das colmeias de Abelha
Bruno De Campo Monteiro Gomes, Marco A. Wehrmeister · Anais do Computer on the Beach · 2024
In situations of catastrophes or accidents that cause a high riskof life for people and also for the rescue team, the use of multipleUnmanned Aerial Vehicles (UAV) can help a lot in scenarioswhere the expected time of mapping and exploration is very small,so the faster the internal environment is known and mapped, thebetter the rescue strategy will be and the more likely the lives willbe saved. The help of multiple UAVs can be very advantageousin the race against time for data collection of the scenario to berescued, in indoor and unknown environments, in which navigationsystems such as global positioning (GPS) are not a possiblesolution. However, a proposal was created to be applied in thesecases, which uses a bioinspired method with multiple UAV for explorationand mapping, so that each autonomous UAV starts theprocess of territory exploration inspiringif in the hexagonal shapeof honeycombs of bees. However, this method used a maximum ofthree UAV due to the technological limitations of the simulationenvironment. Therefore, the purpose of this work was to create asimulation environment capable of working with dozens of UAVat the same time, so that the scalability of this method can be evaluated,taking into account the metrics of the original work andadding more and more UAV to the scenarios. It was observed thatthe method can be scalable up to a certain number of UAVs, dependingon the area of the environment, so that when adding moreUAVs, the exploration time does not decrease, sometimes increases,due to increased trac and the blockages generated.