Embedding Human Expert Cognition Into Autonomous UAS Trajectory Planning - Archive ouverte HAL
Article Dans Une Revue IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics Année : 2012

Embedding Human Expert Cognition Into Autonomous UAS Trajectory Planning

Résumé

This paper presents a new approach for the inclusion of human expert cognition into autonomous trajectory planning for unmanned aerial systems (UASs) operating in low-altitude environments. During typical UAS operations, multiple objectives may exist; therefore, the use of multicriteria decision aid techniques can potentially allow for convergence to trajectory solutions which better reflect overall mission requirements. In that context, additive multiattribute value theory has been applied to optimize trajectories with respect to multiple objectives. A graphical user interface was developed to allow for knowledge capture from a human decision maker (HDM) through simulated decision scenarios. The expert decision data gathered are converted into value functions and corresponding criteria weightings using utility additive theory. The inclusion of preferences elicited from HDM data within an automated decision system allows for the generation of trajectories which more closely represent the candidate HDM decision preferences. This approach has been demonstrated in this paper through simulation using a fixed-wing UAS operating in low-altitude environments.

Dates et versions

hal-00801413 , version 1 (15-03-2013)

Identifiants

Citer

Pritesh Narayan, Patrick Meyer, Duncan Campbell. Embedding Human Expert Cognition Into Autonomous UAS Trajectory Planning. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 2012, 43 (2), pp.530 - 543. ⟨10.1109/TSMCB.2012.2211349⟩. ⟨hal-00801413⟩
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