Development of cooperative behavioural model for autonomous multi-robots system deployed to underground mines

 

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dc.contributor.advisor Bagula, Antoine en_ZA
dc.contributor.advisor Osunmakinde, Isaac Olusegun en_ZA
dc.contributor.author Yinka-Banjo, Chika Ogochukwu en_ZA
dc.date.accessioned 2015-12-04T19:33:45Z
dc.date.available 2015-12-04T19:33:45Z
dc.date.issued 2015 en_ZA
dc.identifier.citation Yinka-Banjo, C. 2015. Development of cooperative behavioural model for autonomous multi-robots system deployed to underground mines. University of Cape Town. en_ZA
dc.identifier.uri http://hdl.handle.net/11427/15612
dc.description.abstract The number of disasters that occur in underground mine environments monthly all over the world cannot be ignored. Some of these disasters for instance are roof-falls; explosions, toxic gas inhalation, in-mine vehicle accidents, etc. can cause fatalities and/or disabilities. However, when such accidents happen during mining operations, rescuers find it difficult to respond to it immediately. This creates the necessity to bridge the gap between the lives of miners and the product acquired from the underground mines by using multi-robot systems. This thesis proposes an autonomous multi-robot cooperative behavioural model that can help to guide multi-robots in pre-entry safety inspection of underground mines. A hybrid swarm intelligent model termed, QLACS, that is based on Q-Learning (QL) and the Ant Colony System (ACS) is proposed to achieve cooperative behaviour in a MRS. The intelligent model was developed by harnessing the strengths of both QL and ACS algorithms. The ACS is used to optimize the routes used for each robot while the QL algorithm is used to enhance cooperation among the autonomous robots. The communication within the QLACS model for cooperative behavioural purposes is varied. The performance of the algorithms in terms of communication was evaluated by using a simulation approach. An investigation is conducted on the evaluation/scalability of the model using the different numbers of robots. Simulation results show that the methods proposed in this thesis achieved cooperative behaviour among the robots better than state-of-the-art or other common approaches. Using time and memory consumption as performance metrics, the results reveal that the proposed model can guide two, three and up to four robots to achieve efficient cooperative inspection behaviour in underground terrains. en_ZA
dc.language.iso eng en_ZA
dc.subject.other Computer Science en_ZA
dc.subject.other Robotics en_ZA
dc.title Development of cooperative behavioural model for autonomous multi-robots system deployed to underground mines en_ZA
dc.type Doctoral Thesis
uct.type.publication Research en_ZA
uct.type.resource Thesis en_ZA
dc.publisher.institution University of Cape Town
dc.publisher.faculty Faculty of Science en_ZA
dc.publisher.department Department of Computer Science en_ZA
dc.type.qualificationlevel Doctoral
dc.type.qualificationname PhD en_ZA
uct.type.filetype Text
uct.type.filetype Image
dc.identifier.apacitation Yinka-Banjo, C. O. (2015). <i>Development of cooperative behavioural model for autonomous multi-robots system deployed to underground mines</i>. (Thesis). University of Cape Town ,Faculty of Science ,Department of Computer Science. Retrieved from http://hdl.handle.net/11427/15612 en_ZA
dc.identifier.chicagocitation Yinka-Banjo, Chika Ogochukwu. <i>"Development of cooperative behavioural model for autonomous multi-robots system deployed to underground mines."</i> Thesis., University of Cape Town ,Faculty of Science ,Department of Computer Science, 2015. http://hdl.handle.net/11427/15612 en_ZA
dc.identifier.vancouvercitation Yinka-Banjo CO. Development of cooperative behavioural model for autonomous multi-robots system deployed to underground mines. [Thesis]. University of Cape Town ,Faculty of Science ,Department of Computer Science, 2015 [cited yyyy month dd]. Available from: http://hdl.handle.net/11427/15612 en_ZA
dc.identifier.ris TY - Thesis / Dissertation AU - Yinka-Banjo, Chika Ogochukwu AB - The number of disasters that occur in underground mine environments monthly all over the world cannot be ignored. Some of these disasters for instance are roof-falls; explosions, toxic gas inhalation, in-mine vehicle accidents, etc. can cause fatalities and/or disabilities. However, when such accidents happen during mining operations, rescuers find it difficult to respond to it immediately. This creates the necessity to bridge the gap between the lives of miners and the product acquired from the underground mines by using multi-robot systems. This thesis proposes an autonomous multi-robot cooperative behavioural model that can help to guide multi-robots in pre-entry safety inspection of underground mines. A hybrid swarm intelligent model termed, QLACS, that is based on Q-Learning (QL) and the Ant Colony System (ACS) is proposed to achieve cooperative behaviour in a MRS. The intelligent model was developed by harnessing the strengths of both QL and ACS algorithms. The ACS is used to optimize the routes used for each robot while the QL algorithm is used to enhance cooperation among the autonomous robots. The communication within the QLACS model for cooperative behavioural purposes is varied. The performance of the algorithms in terms of communication was evaluated by using a simulation approach. An investigation is conducted on the evaluation/scalability of the model using the different numbers of robots. Simulation results show that the methods proposed in this thesis achieved cooperative behaviour among the robots better than state-of-the-art or other common approaches. Using time and memory consumption as performance metrics, the results reveal that the proposed model can guide two, three and up to four robots to achieve efficient cooperative inspection behaviour in underground terrains. DA - 2015 DB - OpenUCT DP - University of Cape Town LK - https://open.uct.ac.za PB - University of Cape Town PY - 2015 T1 - Development of cooperative behavioural model for autonomous multi-robots system deployed to underground mines TI - Development of cooperative behavioural model for autonomous multi-robots system deployed to underground mines UR - http://hdl.handle.net/11427/15612 ER - en_ZA


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