Application of a control algorithm developed based on the ant system to the debris search problem together with Stigmergy based multi-robot system

In this thesis, an alternative control algorithm is proposed for debris search problem. This control algorithm is developed by adding sound intensity and robot count information to classical ant system. Ant system is used global information, but developed algorithm is used only local pheromone information. Futhermore, developed algorithm has not included direct communication between robots. A comprehensive literature review is presented in introduction part which is includes teleoperation architecture, stigmergy concept, some swarm algorithms, ant colony algorithm and pheromone. A general structure of developed control algorithm and some psedocodes are given at second part. The third section presents several scenarios in which the developed algorithm and the random walk are tested. The fourth section includes the experimental findings and discussions obtained from these scenarios. The final section is dealth with general motivation of thesis, its contribution to the literature and problems considered for future works.