Simulation-based testing of autonomous ground vehicles

Christopher Goodin; Daniel W. Carruth; Lalitha Dabbiru; Christopher H. Hudson; Lucas D. Cagle; Nicklaus Scherrer; Marc N. Moore; Paramsothy Jayakumar

doi:10.1117/12.2620502

6 June 2022 Simulation-based testing of autonomous ground vehicles

Christopher Goodin, Daniel W. Carruth, Lalitha Dabbiru, Christopher H. Hudson, Lucas D. Cagle, Nicklaus Scherrer, Marc N. Moore, Paramsothy Jayakumar

Author Affiliations +

Proceedings Volume 12115, Autonomous Systems: Sensors, Processing and Security for Ground, Air, Sea and Space Vehicles and Infrastructure 2022; 121150J (2022) https://doi.org/10.1117/12.2620502
Event: SPIE Defense + Commercial Sensing, 2022, Orlando, Florida, United States

Abstract

Failures by autonomous ground vehicles (AGV) may be caused by many different factors in hardware, software, or integration. Effective safety and reliability testing for AGV is complicated by the fact that failures are not only infrequent but also difficult to diagnose. In this work, we will discuss the results of a three-phase project to develop a simulation-based approach to AGV architecture design, test implementation, and simulation integration. This approach features a modular AGV architecture, reliability testing with a physics-based simulator (the MSU Autonomous Vehicle Simulator, or MAVS), and validation with a limited number of field trials.

Conference Presentation

Citation Download Citation

Christopher Goodin, Daniel W. Carruth, Lalitha Dabbiru, Christopher H. Hudson, Lucas D. Cagle, Nicklaus Scherrer, Marc N. Moore, and Paramsothy Jayakumar "Simulation-based testing of autonomous ground vehicles", Proc. SPIE 12115, Autonomous Systems: Sensors, Processing and Security for Ground, Air, Sea and Space Vehicles and Infrastructure 2022, 121150J (6 June 2022); https://doi.org/10.1117/12.2620502

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