Tables with parameters values underlying the publication: Enabling Robots to Autonomously Search Dynamic Cluttered Post-Disaster Environments

This dataset contains the tables with the values of the parameters of the robot controller and the environment of simulated search-and-rescue scenarios.<br>The parameters of the simulations consider three different approaches of the robot controller, for comparison purposes: <br>1) parameters_of_MPC_controller.pdf for our proposed <strong>MPC-based control</strong> approach (see 'Resource DOI' of the 4TU.ResearchData repository at 10.4121/aa7528da-0986-453c-b196-4277a2db4daa);2) parameters_of_HL-RRTstar_controller.pdf for <strong>HL-RRT*</strong> approach; 3) parameters_of_APF_controller.pdf for <strong>COLREGS APF</strong> approach.<br>In addition, the table simulation_variables_of_random_environments.pdf consists of values of parameters that are used in simulations of each of the three controllers, where applicable.<br>The files obstacle_initial_conditions_simple_simulation_X.csv (with X from 1 to 10) contain the initial conditions for the static and dynamic obstacles in the 10 different simulated scenarios. Furthermore, the file obstacle_initial_conditions_cluttered_scenario.csv contains the initial conditions for the static and dynamic obstacles in the simulated cluttered scenario. All these 11 tables contain values in meters.

本数据集收录了模拟搜救场景下机器人控制器与场景环境的参数表格。为便于对比分析，本次仿真实验采用了三种不同的机器人控制器方案，相关参数详情如下：1) 本团队提出的基于模型预测控制（MPC-based control）方案：对应参数文件为parameters_of_MPC_controller.pdf，详细说明可参阅4TU.ResearchData数据仓储的资源DOI：10.4121/aa7528da-0986-453c-b196-4277a2db4daa；2) HL-RRT*方案：对应参数文件为parameters_of_HL-RRTstar_controller.pdf；3) COLREGS APF方案：对应参数文件为parameters_of_APF_controller.pdf。此外，仿真变量表格simulation_variables_of_random_environments.pdf收录了三种控制器在各自适用场景下使用的参数值。文件obstacle_initial_conditions_simple_simulation_X.csv（X取值范围为1至10）包含10组不同模拟场景中静态与动态障碍物的初始状态参数。另有文件obstacle_initial_conditions_cluttered_scenario.csv，收录了模拟杂乱密集场景下静态与动态障碍物的初始状态参数。上述11份表格的参数单位均为米。