Performance Evaluation and Simulation of the
Traversal Algorithms for Robotic Agents
in Advanced Search and Find (ASAF) System
Ahmed Barnawi and Marwan Alharbi
Faculty of Computing and IT, King Abulaziz University, Saudi Arabia
Abstract: ASAF is a multiple agent robotic system where Unmanned
Aerial Vehicles (UAV)
and Ground Vehicles (UGV)
agents perform coordinated tasks. Our research group built this system based on
Multiple Unmanned Autonomous Vehicle Experimental Testbed (MAUVET), an in-house
platform that we have introduced as well. The challenge in the development of a
mobile robotic system is that performance in real time deployment differs from
the original plan. This case is clearer when planning the traversal path of an
agent, where error happens because of mechanical and environmental factors. The
aim of this paper is to investigate the agent traversal execution via system
experimentation and computer simulation. The outcome of this investigation is
understanding this behavior under different sets of circumstances and finding
some optimization factors.
Keywords: Unmanned aerial vehicles, UAV controller, embedded systems,
multilayered architecture.
Received
June 18, 2019; accepted June 18, 2020