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

机译：自主无人地面车辆机动模型的历史和概述

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Autonomous unmanned ground vehicles (UGVs) are beginning to play a more critical role in military operations. As the size of the fighting forces continues to draw down, the U.S. and coalition partner Armed Forces will become increasingly reliant on UGVs to perform mission-critical roles. These roles range from squad-level manned-unmanned teaming to large-scale autonomous convoy operations. However, as more UGVs with increasing levels of autonomy are entering the field, tools for accurately predicting these UGVs performance and capabilities are lacking. In particular, the mobility of autonomous UGVs is a largely unsolved problem. While legacy tools for predicting ground vehicle mobility are available for both assessing performance and planning operations, in particular the NATO Reference Mobility Model, no such toolset exists for autonomous UGVs. Once autonomy comes into play, ground vehicle mechanical-mobility is no longer enough to characterize vehicle mobility performance. Not only will vehicle-terrain interactions and driver concerns impact mobility, but sensor-environment interactions will also affect mobility. UGV mobility will depend in a large part on the sensor data available to drive the UGVs autonomy algorithms. A limited amount of research has been focused on the concept of perception-based mobility to date. To that end, the presented work will provide a review of the tools and methods developed thus far for modeling, simulating, and assessing autonomous mobility for UGVs. This review will highlight both the modifications being made to current mobility modeling tools and new tools in development specifically for autonomous mobility modeling. In light of this review, areas of current need will also be highlighted, and recommended steps forward will be proposed.
机译：自主无人地面车辆（UGV）开始在军事行动中发挥更加关键的作用。随着战斗部队规模的不断缩小，美国和盟国合作伙伴武装部队将越来越依赖于无人侦察车来执行关键任务。这些角色的范围从小队级别的无人驾驶团队到大规模的自动车队行动。但是，随着越来越多的具有自主性的UGV进入该领域，缺乏准确预测这些UGV性能和功能的工具。特别地，自主UGV的机动性在很大程度上是未解决的问题。虽然用于预测地面车辆机动性的传统工具可用于评估性能和规划运营，特别是北约参考机动性模型，但对于自主式无人飞行器则不存在这样的工具集。一旦自治发挥作用，地面车辆的机械机动性就不足以表征车辆的机动性。车辆与地形的相互作用和驾驶员的担忧不仅会影响机动性，而且传感器与环境的相互作用也会影响机动性。 UGV的机动性将在很大程度上取决于可用于驱动UGV自主算法的传感器数据。迄今为止，有限的研究集中在基于感知的移动性的概念上。为此，本文将回顾迄今为止开发的用于建模，模拟和评估UGV的自动机动性的工具和方法。此次审查将重点介绍对当前的移动性建模工具进行的修改以及专门针对自主性移动性建模的开发中的新工具。根据这次审查，还将突出当前需要的领域，并提出建议的进一步措施。

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