A history and overview of mobility modeling for autonomous unmanned ground vehicles

摘要: Autonomous unmanned ground vehicles (UGVs) are beginning to play a more critical role in military operations. As the size of fighting forces continues draw down, U.S. and coalition partner Armed Forces will become increasingly reliant on UGVs perform mission-critical roles. These roles range from squad-level manned-unmanned teaming large-scale autonomous convoy However, as with increasing levels autonomy entering field, tools for accurately predicting these performance capabilities lacking. In particular, mobility is largely unsolved problem. While legacy vehicle available both assessing planning operations, particular NATO Reference Mobility Model, no such toolset exists UGVs. Once comes into play, mechanical-mobility longer enough characterize performance. Not only vehicle-terrain interactions driver concerns impact mobility, but sensor-environment also affect mobility. UGV depend large part sensor data drive algorithms. A limited amount research has been focused concept perception-based date. To that end, presented work provide review methods developed thus far modeling, simulating, This highlight modifications being made current modeling new development specifically modeling. light this review, areas need be highlighted, recommended steps forward proposed.