An Adaptive Planning Framework for Situation Assessment and Decision-making on an Autonomous Ground Vehicle

Abstract

The primary contribution of this research is the design, implementation, and field testing of an Adaptive Planning Framework (APF) that can address the problem of autonomous operation in a complex, unstructured environment. It encapsulates a new and unique approach to dynamic situation assessment, behavior management, and decision-making. This research also included a literature review and development of a Reference Implementation. The thesis behind this research is that a well-organized, three-stage process of 1) understanding the current situation, 2) understanding the suitability and viability of the available behaviors in light of that situation, and 3) providing the capability to autonomously make and execute behavior-related decisions, all in real-time, provides new levels of intelligence to autonomous ground vehicles (AGV).

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Dec 01, 2006
Accession Number
ADA507151

Entities

People

  • Robert A. Touchton

Organizations

  • University of Florida

Tags

Communities of Interest

  • Autonomy
  • C4I
  • Sensors
  • Space
  • Weapons Technologies

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Autonomous Systems
  • Autonomous Vehicles
  • Collision Avoidance
  • Computer Programming
  • Computer Science
  • Computers
  • Control Systems
  • Human-Machine Interfaces
  • Information Systems
  • Laser Sensors
  • Motion Planning
  • Situational Awareness
  • Software Development
  • Unmanned Systems
  • Unmanned Vehicles
  • User Interface

Readers

  • Brain and Cognitive Science; Experimental Psychology; Cognitive Neuroscience
  • Distributed Systems and Data Platform Development
  • Organizational Process Management (OPM).