地下環境における無人航空機の文脈的自律性評価
Contextual Autonomy Evaluation of Unmanned Aerial Vehicles in Subterranean Environments
小型無人航空機の自律性をタスク複雑度と環境要因を考慮して評価するファジィ推論システムを提案し、実機実験で検証した。
著者: Ryan Donald, Peter Gavriel, Adam Norton, S. Reza Ahmadzadeh
分類: cs.RO
原文アブストラクト
In this paper we focus on the evaluation of contextual autonomy for robots. More specifically, we propose a fuzzy framework for calculating the autonomy score for a small Unmanned Aerial Systems (sUAS) for performing a task while considering task complexity and environmental factors. Our framework is a cascaded Fuzzy Inference System (cFIS) composed of combination of three FIS which represent different contextual autonomy capabilities. We performed several experiments to test our framework in various contexts, such as endurance time, navigation, take off/land, and room clearing, with seven different sUAS. We introduce a predictive measure which improves upon previous predictive measures, allowing for previous real-world task performance to be used in predicting future mission performance.
