Modeling and Quantitative Evaluation Method of Environmental Complexity for Measuring Autonomous Capabilities of Military Unmanned Ground Vehicles

This paper proposes a sampling-based multi-dimensional entropy hierarchical evaluation method to evaluate the environmental complexity for measuring autonomous capabilities of military unmanned ground vehicles. Through establishing the multi-dimensional environment model, the complexity of environmental elements in various dimensions is measured by combining the analytic hierarchy process and the improved gravitational field model. Based on the graph entropy and the environment segmentation sampling strategy, the environmental complexity is comprehensively evaluated from the two perspectives of the objective complexity of the environmental structure and the subjective complexity of environmental characteristics. The evaluation of the actual test environment shows that the environmental complexity evaluation model can effectively reflect the individual complexity differences of environmental elements, and achieve the comprehensive complexity evaluation of the environment including multiple test scenarios, which provides a basis for the test scenario design and measuring autonomous capabilities of military unmanned ground vehicles.