Research on Autonomous Capability Evaluation of Unmanned Ground Vehicles

摘要

In this paper, according to the requirements of the theory of analytic hierarchy process (AHP), in order to demonstrate its autonomy should possess the ability of elements,the ability can be divided into the perception ability, planning ability, motion control ability, behavioral ability and learning ability evaluation of five aspects.Then all sapects are decomposed step by step down for 12 evaluation key elements and 38 evaluation factors. On this basis, the technical maturity is calculated with fuzzy membership degree matrix on the evaluation of the assignment of reference. The improved G1 sequence relations and fuzzy comprehensive evaluation method are used on the system of the unilateral and total autonomy ability to combine qualitative and quantitative evaluation, by setting the different task environment. What is more, trying to prove that in order to determine the level of autonomy, there should be autonomy ability of different vehicle verification, as well as autonomy value interval distribution.