R2-RRT*: Reliability-Based Robust Mission Planning of Off-Road Autonomous Ground Vehicle Under Uncertain Terrain Environment

Chen Jiang,Zhen Hu,Zissimos P. Mourelatos,David Gorsich,Paramsothy Jayakumar,Yan Fu,Monica Majcher

IEEE Transactions on Automation Science and Engineering（2022）

引用 20|浏览11

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摘要

This article presents a reliable and robust rapidly exploring random tree (R2-RRT*) algorithm to tackle challenges in mission planning of off-road autonomous ground vehicles (AGVs) under uncertain terrain environment. Two types of mobility reliability metrics, namely state mobility reliability (SMR) and mission mobility reliability (MMR), are first defined to quantify the mobility reliability of a...

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关键词

Planning,Reliability,Uncertainty,Predictive models,Prediction algorithms,Land vehicles,Soil properties

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