This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
VISION: Vehicle Infrared Signature Aware Off-Road Navigation
Technical Paper
2024-01-2661
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
Vehicle navigation in off-road environments is challenging due to terrain uncertainty. Various approaches that account for factors such as terrain trafficability, vehicle dynamics, and energy utilization have been investigated. However, these are not sufficient to ensure safe navigation of optionally manned ground vehicles that are prone to detection using thermal infrared (IR) seekers in combat missions. This work is directed towards the development of a vehicle IR signature aware navigation stack comprised of global and local planner modules to realize safe navigation for optionally manned ground vehicles. The global planner used A* search heuristics designed to find the optimal path that minimizes the vehicle thermal signature metric on the map of terrain’s apparent temperature. The local planner used a model-predictive control (MPC) algorithm to achieve integrated motion planning and control of the vehicle to follow the path waypoints provided by the global planner. Vehicle apparent temperature-aware kinodynamic motion planning MPC was developed to minimize the vehicle thermal signature metric -- while respecting local mobility constraints due to the terrain grade to prevent vehicle rollover. Additionally, a surface energy model with the inclusion of a vegetation layer was developed to simulate the apparent temperature of the background terrain. The effectiveness of the developed algorithm is demonstrated for the scenario where the adversarial threat perspective is assumed to be from the top looking down at the vehicle.
Authors
Citation
Lonari, Y., Naber, J., Korivi, V., Tison, N. et al., "VISION: Vehicle Infrared Signature Aware Off-Road Navigation," SAE Technical Paper 2024-01-2661, 2024, https://doi.org/10.4271/2024-01-2661.Also In
References
- Liu , Y. , Jiang , C. , Mourelatos , Z.P. , Gorsich , D. et al. Simulation-Based Mission Mobility Reliability Analysis of Off-Road Ground Vehicles Journal of Mechanical Design 143 3 2021 031701
- Robinette , D. , Chen , B. , Bhat , P. , Oncken , J. et al. Leveraging Connectivity and Automation to Improve Propulsion System Energy Sufficiency CTI SYMPOSIUM 2018: 17th International Congress and Expo 3-6 December 2018 Berlin, Germany 300 309 Springer Berlin Heidelberg 2020
- Robinette , D. and Wehrwein , D. Automatic Transmission Gear Ratio Optimization and Monte Carlo Simulation of Fuel Consumption with Parasitic Loss Uncertainty SAE Int. J. Commer. Veh. 8 1 2015 45 62 https://doi.org/10.4271/2015-01-1145
- Roy , J. , Wan , N. , Goswami , A. , Vahidi , A. et al. A Hierarchical Route Guidance Framework for Off-Road Connected Vehicles, in Review ASME Journal of Dynamic Systems, Measurement, and Control 2017
- Zheng , H. , Smereka , J.M. , Mikulski , D. , Roth , S. et al. 2022
- Jane , R.S. 2019
- United States Army Climate Strategy Department of the Army, Office of the Assistant Secretary of the Army for Installations, Energy and Environment Washington, DC United States Army Climate Strategy 2022
- Chen , X. , Heidarinejad , M. , Liu , J. , and Christofides , P.D. Composite Fast-Slow MPC Design for Nonlinear Singularly Perturbed Systems AIChE Journal 58 6 2012 1802 1811
- Amini , M.R. , Sun , J. , and Kolmanovsky , I. Two-Layer Model Predictive Battery Thermal and Energy Management Optimization for Connected and Automated Electric Vehicles 2018 IEEE Conference on Decision and Control (CDC) 6976 6981 IEEE 2018
- Hu , Q. , Amini , M.R. , Kolmanovsky , I. , Sun , J. et al. Multihorizon Model Predictive Control: An Application to Integrated Power and Thermal Management of Connected Hybrid Electric Vehicles IEEE Transactions on Control Systems Technology 30 3 2021 1052 1064
- Mayne , D.Q. , Seron , M.M. , and Raković , S.V. Robust Model Predictive Control of Constrained Linear Systems with Bounded Disturbances Automatica 41 2 2005 219 224
- Kothare , M.V. , Balakrishnan , V. , and Morai , M. Robust Constrained Model Predictive Control Using Linear Matrix Inequalities Proceedings of 1994 American Control Conference-ACC'94 1 440 444 IEEE 1994
- Bernardini , D. and Bemporad , A. Stabilizing Model Predictive Control of Stochastic Constrained Linear Systems IEEE Transactions on Automatic Control 57 6 2012 1468 1480
- Rawlings , J.B. , Mayne , D.Q. , and Diehl , M. Model Predictive Control: Theory, Computation, and Design 2 Madison, WI Nob Hill Publishing 2017
- Packard , C.D. , Curran , A.R. , Saur , N.E. , and Rynes , P.L. Simulation-Based Sensor Modeling and At-Range Target Detection Characterization with MuSES Infrared Imaging Systems: Design, Analysis, Modeling, and Testing XXVI 9452 143 157 SPIE 2015
- Aryalekshmi , B.N. , Biradar , R.C. , Chandrasekar , K. , and Mohammed Ahamed , J. Analysis of Various Surface Energy Balance Models for Evapotranspiration Estimation Using Satellite Data The Egyptian Journal of Remote Sensing and Space Science 24 3 2021 1119 1126
- Rama , N. and Robinette , D. Computationally Efficient Reduced-Order Powertrain Model of a Multi-Mode Plug-In Hybrid Electric Vehicle for Connected and Automated Vehicles SAE Technical Paper 2019-01-1210 2019
- Dudekula , A.B. 2020
- Dudekula , A. and Naber , J. Algorithm Development for Avoiding Both Moving and Stationary Obstacles in an Unstructured High-Speed Autonomous Vehicular Application Using a Nonlinear Model Predictive Controller SAE Intl. J CAV 3 3 2020 161 191 https://doi.org/10.4271/12-03-03-0014
- Robinette , D. , Chen , B. , Bhat , P. , Oncken , J. et al. Leveraging Connectivity and Automation to Improve Propulsion System Energy Sufficiency CTI SYMPOSIUM 2018: 17th International Congress and Expo 3-6 Berlin, Heidelberg Springer Vieweg 2020
- Balick , L.K. , Scoggins , R.K. , and Link , L.E. Inclusion of a Simple Vegetation Layer in Terrain Temperature Models for Thermal IR Signature Prediction IEEE Transactions on Geoscience and Remote Sensing 3 1981 143 152