Decision-Making for Autonomous Mobility Using Remotely Sensed Terrain Parameters in Off-Road Environments
Vijitashwa Pandey, Jeremy P. Bos, Jordan Ewing, Sam Kysar, Thomas Oommen, William Smith, Paramsothy Jayakumar, David Gorsich · SAE International Journal of Advances and Current Practices in Mobility · 2021
Off-road vehicle operation requires constant decision-making under great uncertainty. Such decisions are multi-faceted and range from acquisition decisions to operational decisions. A major input to these decisions is terrain information in the form of soil properties. This information needs to be propagated to path planning algorithms that augment them with other inputs such as visual terrain assessment and other sensors. In this sequence of steps, many resources are needed, and it is not often clear how best to utilize them. We present an integrated approach where a mission’s overall performance is measured using a multiattribute utility function. This framework allows us to evaluate the value of acquiring terrain information and then its use in path planning. The computational effort of optimizing the vehicle path is also considered and optimized. We present our approach using the data acquired from the Keweenaw Research Center terrains and present some results.