Engineering Commons^™

Underwater Robot Path Planning In An Intermittent Communication System, Hunter Gallant

Dartmouth College Master’s Theses

Sunflower, a novel cross-medium localization system between an aerial drone and an underwater robot, has not yet been implemented in a multi-robot exploration system. This project’s aim was to simulate various configurations of multi-robot systems, and to create an algorithm, called AdjustPath, to improve exploration and avoid inter- robot collisions. With three, five, seven, and ten simulated underwater robots, there was significant improvement when the AdjustPath algorithm was used. Knowing this, future hardware using the Sunflower system could use this proposed algorithm to increase efficiency and avoid more collisions.