Tham khảo tài liệu 'innovations in intelligent machines 1 - javaan singh chahl et al (eds) part 8', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 132 A. Pongpunwattana and R. Rysdyk Time sec Fig. 11. Normal task score profile Table 1. Planner parameters Parameter Description Value aF. min minimum task score weighting factor 3500 at amax maximum task score weighting factor 7000 aV vehicle cost weighting factor 2500 aQ fuel cost weighting factor 300 aL loss function scaling factor 250 Table 2. Simulation parameters Parameter Description Value Unit obstacle payload effectiveness - R obstacle payload range 30 km ơ obstacle uncertainty radius 20 km ƠG target uncertainty radius 20 km nv vehicle payload effectiveness - Rv vehicle payload range 20 km Va vehicle speed 150 m s Fuelinit vehicle initial fuel level liters Fuclmax vehicle max fuel level liters It simulates effects caused by actions or events occurring during the simulation. Simulation entities are customizable and may be used to represent a variety of air and ground vehicles targets and buildings. Unless otherwise specified the values of parameters listed in Table 1 and 2 are used in all of the simulations presented here. 133 Evolution-based Dynamic Path Planning for Autonomous Vehicles a b Longitude deg Longitude deg c d Fig. 12. Snapshots of off-line path planning with multiple targets In this example problem there are three targets and three obstacles. Figure 12 shows snapshots of the planning results for different generations in the evolution process. The vehicle is represented by a triangle with vehicle number on it. The dashed circle around the vehicle represents the range of the payload on-board the vehicle. This payload can be a sensor or offensive payload. The square markers represent actual locations of sites. Each of these square markers will have a vehicle number on it if the site is a target and assigned to that vehicle. A solid circle located near each square marker represents an area which covers all of the possible locations of the site represented by the square marker. Each filled square marker with a dashed circle around
