Research on an Intelligent Behavior Evaluation System for Unmanned Ground Vehicles

Abstract

A scientific and reasonable evaluation system for unmanned ground vehicles (UGVs) is very important. This paper studies the intelligent behavior of UGVs, and also proposes a comprehensive evaluation system for this intelligent behavior. The test and evaluation system includes the test content design, the test environment design, the test methods and the evaluation method. Using a hierarchical design approach, the test content is designed to be stage by stage, moving from simplicity to complexity and from individual modules to the entire vehicle. The hierarchical test environment is established according to the test content levels. The extension analytic hierarchy process (EAHP) has a better advantage than the analytic hierarchy process (AHP) to avoid the problem of the ambiguity of expert experience judgment and the consistency of the judgment matrix in determine the weight of each evaluation index. Using chaos theory to calculate the Lyapunov index, the quality of the trajectory of the UGV is characterized. The grey relational analysis method is used to analyze the correlation between the comparison series and the reference series, and a comprehensive quantitative result of the intelligent behavior of the UGV is obtained. The experiment shows that the intelligent behavior evaluation system of the UGV is scientific and effective.