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contributor authorJiang, Chen
contributor authorLiu, Yixuan
contributor authorMourelatos, Zissimos P.
contributor authorGorsich, David
contributor authorFu, Yan
contributor authorHu, Zhen
date accessioned2022-05-08T08:26:27Z
date available2022-05-08T08:26:27Z
date copyright11/11/2021 12:00:00 AM
date issued2021
identifier issn1050-0472
identifier othermd_144_4_041703.pdf
identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4283928
description abstractReliability-based mission planning of off-road autonomous ground vehicles (AGVs) aims to identify an optimal path under uncertain and deformable terrain environment, while satisfying specific mission mobility reliability (MMR) constraints. The repeated evaluation of MMR during path planning poses computational challenges for practical applications. This paper presents an efficient reliability-based mission planning using an outcrossing approach that has a similar computational complexity compared to deterministic mission planning. A Gaussian random field is employed to represent the spatially dependent uncertainty sources in the terrain environment. The latter are then used in conjunction with a vehicle mobility model to generate a stochastic mobility map. Based on the stochastic mobility map, outcrossing rate maps are generated using the outcrossing concept which is widely used in time-dependent reliability. Integration of the outcrossing rate map with a rapidly exploring random tree (RRT*) algorithm allows for efficient path planning of AGVs subject to MMR constraints. A reliable RRT* algorithm using the outcrossing approach (RRT*-OC) is developed to implement the proposed efficient reliability-based mission planning. Results of a case study with two scenarios verify the accuracy and efficiency of the proposed algorithm.
publisherThe American Society of Mechanical Engineers (ASME)
titleEfficient Reliability-Based Mission Planning of Off-Road Autonomous Ground Vehicles Using an Outcrossing Approach
typeJournal Paper
journal volume144
journal issue4
journal titleJournal of Mechanical Design
identifier doi10.1115/1.4052511
journal fristpage41703-1
journal lastpage41703-14
page14
treeJournal of Mechanical Design:;2021:;volume( 144 ):;issue: 004
contenttypeFulltext


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