Unified analysis framework for the impact of urban environments on unmanned platform abilities
摘要
Unmanned platforms,performing various tasks in urban environments,have garnered significant attention.This paper primarily focuses on analyzing and modeling the influence of various urban environmental factors on the unmanned plat-forms'core competencies,which include motion,perception,operation,and communication abilities.Initially,the paper delves into the urban environment's geographical,meteorological,elec-tromagnetic,and temporal factors,identifying and categorizing the typical elements into static and dynamic components.It fur-ther models the primary urban elements and elucidates their interrelationships.Then,the paper categorizes the types of unmanned platforms that are suitable for urban task execution.It identifies six fundamental components essential for describing the capabilities of these platforms:the perception,computing,motion,power,operation,and communication systems.Subse-quently,the paper constructs an impact model by analyzing how typical urban environmental factors affect these six components.A unified analysis framework is proposed to assess the urban environment's impact on the capabilities of unmanned platforms.Finally,the effectiveness of this framework is validated through path-planning tasks in various typical urban scenarios.
