ABSTACT

An Advanced Mission Planner (AMP) has been implemented for assigning tasks to multiple unmanned ground vehicles. AMP conforms to the Joint Architecture for Unmanned Ground Systems (JAUGS) standard. JAUGS is a messaging standard that provides the structure that enables components from many sources to communicate with each other. This standard allows components as diverse as user interfaces, vehicle controllers, positioning systems, safety systems, and path planners to be used interchangeably. AMP has been implemented as a stand-alone, experimental JAUGS component capable of mission planning for unmanned ground vehicles. During the execution of a mission, events may occur that require AMP to dynamically replan the mission for one or all of the unmanned vehicles. When such an event is triggered, AMP will either replan the path for the vehicle triggering the event, or it will optimize the remainder of the mission by performing a complete replan for all vehicles and all uncompleted tasks. The two replanning methods are presented and discussed in this paper.

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