ROBUST PATH PLANNING IN THE BATTLEFIELD

Autonomous vehicles rely on path planning to guide them towards their destination. These paths are susceptible to interruption by impassable hazards detected at the local scale via on-board sensors, and malicious disruption. We define robustness as an additional parameter which can be incorporated into multi-objective optimization functions for path planning. The robustness at any point is the output of a function of the isochrone map at that point for a set travel time. The function calculates the sum of the difference in area between the isochrone map and the isochrone map with an impassable semi-circle hazard inserted in each of the four cardinal directions. We calculate and compare two different Pareto paths which use robustness as an input parameter with different weights.

Citation: T. Jonsson Damgaard, M. Rittri, P. Franz, A. Halota “Robust Path Planning in the Battlefield,” In Proceedings of the Ground Vehicle Systems Engineering and Technology Symposium (GVSETS), NDIA, Novi, MI, Aug. 15-17, 2023.