On evaluation of robust autonomy for uninhabited vehicles and systems
Perez, Tristan, Donaire, Alejandro, & Willams , Brendan P. (2010) On evaluation of robust autonomy for uninhabited vehicles and systems. In Indiveri, Giovanni & Pascoal, António M (Eds.) Proceedings of the 7th IFAC Symposium on Intelligent Autonomous Vehicles (2010), The International Federation of Automatic Control (IFAC), University of Salento, Lecce, Italy, pp. 348-353.
This paper discusses a method to quantify robust autonomy of Uninhabited Vehicles and Systems (UVS) in aerospace, marine, or land applications. Based on mission-vehicle specific performance criteria, we define an system utility function that can be evaluated using simulation scenarios for an envelope of environmental conditions. The results of these evaluations are used to compute a figure of merit or measure for operational efectiveness (MOE). The procedure is then augmented to consider faults and the performance of mechanisms to handle these faulty operational modes. This leads to a measure of robust autonomy (MRA). The objective of the proposed figures of merit is to assist in decision making about vehicle performance and reliability at both vehicle development stage (using simulation models) and at certification stage (using hardware-in-the-loop testing). Performance indices based on dynamic and geometric tasks associated with vehicle manoeuvring problems are proposed, and an example of a two- dimensional y scenario is provided to illustrate the use of the proposed figures of merit.
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|Item Type:||Conference Paper|
|Additional Information:||Pre-QUT publication
Previously accepted for HERDC http://hdl.handle.net/1959.13/933678
|Keywords:||Uninhabited vehicles, Manoeuvring problem, Performance evaluation|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright © 2010 IFAC|
|Copyright Statement:||All rights reserved. No parts of this publication may be reproduced, stored in a retrieval
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|Deposited On:||14 May 2014 02:10|
|Last Modified:||12 Jun 2014 00:49|
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