Page 141 - Innovations in Intelligent Machines

132 A. Pongpunwattana and R. Rysdyk

F
α max
Score

α F
min

0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000
Time (sec)
Fig. 11. Normal task score profile

Table 1. Planner parameters
Parameter Description Value
F
α min minimum task score weighting factor 3500
F
α max maximum task score weighting factor 7000
α V vehicle cost weighting factor 2500
α Q fuel cost weighting factor 300
α L loss function scaling factor 250

Table 2. Simulation parameters
Parameter Description Value Unit
η O obstacle payload effectiveness 0.5 –
R O obstacle payload range 30 km
σ O obstacle uncertainty radius 20 km
σ G target uncertainty radius 20 km
η V vehicle payload effectiveness 0.7 –
R V vehicle payload range 20 km
V a vehicle speed 150 m/s
Fuel init vehicle initial fuel level 6.0 liters
Fuel max vehicle max fuel level 7.0 liters

It simulates effects caused by actions or events occurring during the simu-
lation. 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.