Dynamic Replanning for Multiple Unmanned Ground Vehicles using the JAUGS Architecture

摘要

An Advanced Mission Planner (AMP) has been implemented for assigning tasksrnto multiple unmanned ground vehicles. AMP conforms to the Joint Architecture forrnUnmanned Ground Systems (JAUGS) standard. JAUGS is a messaging standard thatrnprovides the structure that enables components from many sources to communicate withrneach other. This standard allows components as diverse as user interfaces, vehiclerncontrollers, positioning systems, safety systems, and path planners to be usedrninterchangeably. AMP has been implemented as a stand-alone, experimental JAUGSrncomponent capable of mission planning for unmanned ground vehicles. During thernexecution of a mission, events may occur that require AMP to dynamically replan thernmission for one or all of the unmanned vehicles. When such an event is triggered, AMPrnwill either replan the path for the vehicle triggering the event, or it will optimize thernremainder of the mission by performing a complete replan for all vehicles and allrnuncompleted tasks. The two replanning methods are presented and discussed in thisrnpaper.