详情

当前位置：首页> 国外交通科技报告数据库 >详情

原文传递 Trajectory Planning for Mission Survivability of Autonomous Vehicles in Moderately to Extremely Uncertain Environments.

题名：	Trajectory Planning for Mission Survivability of Autonomous Vehicles in Moderately to Extremely Uncertain Environments.
作者：	Fanruiqi Zeng##Husni R. Idris##John-Paul Clarke
关键词：	non-cooperative traffic## unknown disturbances## non-modeled uncertainty## mission robustness## mission surviv- ability## urban air mobility## trajectory flexibility
摘要：	Trajectory planning is a particularly challenging task for autonomous vehicles when there are moderate to extreme uncertainties in their operating environment, i.e., where the tra- jectories of hazards are partially known to completely unknown. In this paper, we propose a receding horizon control strategy with novel trajectory planning policies that enable dynamic updating of the planned trajectories of autonomous vehicles. The proposed policies utilize two metrics: (1) the number of feasible trajectories; and (2) the robustness of the feasible trajectories. We measure the effectiveness of the suggested policies in terms of mission survivability, which is defined as the probability that the primary mission is accomplished or, if that is not possible, the vehicle lands safely at an alternative site. We show that a linear combination of both metrics is an effective objective function when there is a mix of partially known and unknown uncertainties. When the operating environment is dominated by unknown disturbances, maximizing the number of feasible trajectories results in the highest mission survivability. These findings have significant implications for achieving safe aviation autonomy.
总页数：	9
报告类型：	科技报告
发布日期：	2021