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Risk Attitude Informed Route Planning in a Simulated Planetary Rover

[+] Author Affiliations
Adam R. Short, Douglas L. Van Bossuyt

Colorado School of Mines, Golden, CO

Paper No. DETC2015-46385, pp. V01BT02A048; 11 pages
doi:10.1115/DETC2015-46385
From:
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 1B: 35th Computers and Information in Engineering Conference
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5705-2
  • Copyright © 2015 by ASME

abstract

Algorithms used in rovers for route planning often focus on finding the shortest path between two points, but rarely take into account the risk to the physical roving system of taking a path. One issue presented by route planning optimized for risk is varying risk attitudes, which can lead to vastly different routes being chosen. A risk attitude is a preference concerning acceptable levels of risk to perform a specific action. The field of Prognostics and Health Management (PHM) aims to predict and prevent mechanical failure in electrical and mechanical systems, and can be used to inform route planning by assessing risk associated with taking an action. A method has been developed and is presented in this paper for Risk Attitude Informed Route-planning (RAIR) that takes into account the calculated risk, the benefit, and risk attitude and selects the optimal route. The risks to the rover will be calculated by using rover PHM data, terrain information, and Function Failure Identification Propagation (FFIP) to determine risk of specific routes. The route is navigated incrementally by selecting the best route across a small segment and then determining the best route from the new position until the rover has reached the final destination. Results of experiments utilizing a simulated planetary rover navigating between points using RAIR are presented in this paper and the effectiveness of the method is discussed. Improved route planning through RAIR enables more autonomous navigation of hazardous and remote environments that accurately reflects the desired risk attitude without direct human planning or interaction than is currently available, thus reducing cost and time for exploratory rover missions to accomplish mission objectives.

Copyright © 2015 by ASME
Topics: Risk

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