Systematical Collision Avoidance Reliability Analysis and Characterization of Reliable System Operation for Autonomous Navigation Using the Dynamic Window Approach

IF 1.8 Q2 ENGINEERING, MULTIDISCIPLINARY
E. Torkamani, Zhimin Xi
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引用次数: 1

Abstract

Dynamic window approach (DWA) is one of the most widely used algorithms for local path planning and autonomous navigation. Although many successful examples have been shown under various operation conditions, to the authors' best knowledge, there is a lack of systematic reliability analysis, its further design improvement, and systems operation guidelines for meeting reliability requirement under different operation conditions. Several goals can be defined for a successful path planning and autonomous navigation. Among them, assurance of the collision avoidance and reaching the goal with less time are pivotal requirements, yet such reliability analysis is rarely conducted in a rigorous manner. Furthermore, design improvement and systems operation design for meeting the reliability constraints do not exist in literature in this area. This paper addresses such a research gap for autonomous navigation reliability analysis and further conducts design improvement and characterizes systems operation conditions for meeting the collision avoidance reliability using the DWA. To address the technical challenges associated with limited number of simulations or experiments, reliability analysis is conducted using Bayesian statistics combined with the Monte Carlo simulation (MCS). Design improvement and reliable operation conditions can then be conducted based on the reliability analysis. Results indicate that performance reliability of the DWA is sensitive to its parameter configuration, which can be improved through reliability-based design optimization. With characterized collision avoidance reliability constraints, performance reliability of the DWA can be ensured through adjusting its operation parameters.
基于动态窗口方法的自主导航系统避碰可靠性分析及系统可靠运行特性研究
动态窗口法(DWA)是局部路径规划和自主导航中应用最广泛的算法之一。虽然在各种运行条件下已经有了许多成功的例子,但据笔者所知,缺乏系统的可靠性分析,其进一步的设计改进,以及满足不同运行条件下可靠性要求的系统操作指南。为了实现成功的路径规划和自主导航,可以定义几个目标。其中,保证避碰和在更短时间内达到目标是关键要求,但这种可靠性分析很少进行严格的分析。此外,满足可靠性约束的设计改进和系统运行设计在该领域的文献中尚不存在。本文针对自主导航可靠性分析的这一研究空白,进一步利用DWA进行设计改进,刻画满足避碰可靠性的系统运行条件。为了解决与有限数量的模拟或实验相关的技术挑战,使用贝叶斯统计结合蒙特卡罗模拟(MCS)进行可靠性分析。然后根据可靠性分析进行设计改进和可靠运行条件。结果表明,DWA的性能可靠性对参数配置非常敏感,可以通过基于可靠性的优化设计来提高性能可靠性。在防撞可靠性约束下,通过调整DWA的运行参数,可以保证DWA的性能可靠性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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来源期刊
CiteScore
5.20
自引率
13.60%
发文量
34
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