*5.1.3 Shelters and covers*

*Path Planning for Autonomous Vehicles - Ensuring Reliable Driverless Navigation...*

Geographic factors affecting autonomous vehicle path planning are:

• frequency of roads and their type (paved, unpaved, forest, etc.)

• characteristics of shores (banks) of waterways and streams,

The relief of the terrain is the most important element of the physical-geographic conditions at the theater (area of operation). It has an impact on the preparation and conduct of the fighting activities of the troops and especially on their mobility. The fragmentation of the terrain in specific areas of operation determines the choice of the most appropriate directions of the autonomous vehicle activities, its correct evaluation and the use of the peculiarities of the types and shapes of the relief can contribute to the surprising maneuver or to the complete concealment of the movements. The significance of the relief increases with growing fragmentation and altitude.

The effect on throughput (cross-country) or activity in the area of operation has obstructions that are either natural or created by human activity. The examples of effects which are obstructing movement of autonomous vehicles are mentioned in

Another aspect of the terrain throughput when moving troops on unpaved roads

and in the open terrain is the assessment of their condition, taking into account parameters of the physical condition of the subsoil, which vary depending on the

In the case of forestry throughput, the main factor influencing the use of autonomous vehicle is its inclination. In the case of openness, open-air space will be

• the width and clear height when moving along roads,

• the width and depth of rivers, streams and waterways,

• ability to overcome artificially created obstacles.

season and the hydro-meteorological conditions.

more important than tactical factors.

• incline of the terrain relief,

• terrain throughput,

• elevation of the terrain,

• terrain load capacity,

• hide and cover options,

• nature of water areas,

*5.1.1 Terrain relief*

*5.1.2 Terrain throughput*

Section 5.1.5.

• water flow and river flow rate,

• ability to evaluate key terrain for maneuver,

For autonomous vehicle used out of the contact with the enemy for supporting and logistic operations, a set of geographic and hydro meteorological factors are

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Evaluating and optimizing the use of terrain shelters and covers will provide autonomous vehicle high level of protection as well as confidentiality of movement. It also makes it possible to estimate possible access routes to the mission area, and the intended gathering points or directions of action of enemy units.

Hidden access and free movement create, depending on the mission in a military operation, so-called key areas. Their knowledge provides a significant advantage in realizing the intentions of who controls the given key space.
