Performance Assessment of PRIDE in Manufacturing Environments

Kootbally, Zeid; Schlenoff, Craig; Madhavan, Raj
September 2010
ITEA Journal of Test & Evaluation;Sep2010, Vol. 31 Issue 3, p410
This article describes Prediction In Dynamic Environments (PRIDE), a multi-resolution and hierarchical framework. PRIDE was developed as a test bed to assess the performance of autonomous vehicles in the presence of moving objects in a simulated environment. By simulating scenarios in which moving objects are prevalent, a designer of an autonomous vehicle can test the performance of their path planning and collision avoidance algorithms without having to immerse the vehicle in the physical world. This framework supports the prediction of the future location of moving objects at various levels of resolution, thus providing prediction information at the frequency and level of abstraction necessary for planners at different levels within the hierarchy. Previous works have demonstrated the reliability of PRIDE to simulate on-road traffic situations with multiple vehicles. To provide realistic scenarios, PRIDE integrates a level of situation awareness of how other vehicles in the environment are expected to behave considering the situation in which the vehicles find themselves. In recent efforts, the PRIDE framework has been extended to consider production logistics in dynamic manufacturing environment while focusing on the scheduling of material transportation system. To demonstrate the characteristics of the PRIDE framework, this article illustrates real-time navigation of Automated Guided Vehicles at different locations in a dynamic manufacturing environment. Moreover, using the high-fidelity physics-based framework for the Unified System for Automation and Robot Simulation, this article analyzes the performance of the PRIDE framework on a set of realistic scenarios.


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