**6. Military factors evaluation for path planning**

Proposed factors were identified as the outputs of complex analysis of the facts in the Army of the Czech Republic Lessons Learned Databases [6] and compared by outputs gained from The Army of the Czech Republic Units Leaders who are using military designed autonomous vehicles for fulfilling the military missions.

Factors should not only be considered as factors that negatively affect autonomous vehicle's movement. The opposing forces (enemy) vs. our own can be stated in a general sense that if something adversely affects the activity of the enemy, it is for the

**21**

where:

(1/first/till n/n-th/).

*Military Factors Influencing Path Planning DOI: http://dx.doi.org/10.5772/intechopen.86421*

different way and intensity.

range);

• has an effect-it does not affect;

individual influences, etc.

these factors their specific weight.

own forces an advantage, a positive influence and vice versa. Positive influences must be able to use by autonomous vehicle, negatively minimize or completely suppress. Some of the above aspects and autonomous vehicle requirements may be conceived at the same time as the factors that will movement of the autonomous vehicle both during the planning phase of the movement and during the management phase of the movement. Some aspects (factors) will be influencing ground autonomous vehicle, the same factor can affect the air autonomous vehicle in a radically

The influence of this factor can be assessed by different approaches:

• has a major influence-it has influence-it does not affect (possibly a wider

• weight of individual influences-percentage (or point) representation of

To more precisely the range of effects and the weight of the individual effects on the autonomous vehicle movement will be determined the better equipped autonomous vehicle could be designed (HW and SW) in order to eliminate or reduce the effects of negative influences and will ultimately be higher quality (reliable, faster, with minimizing losses, ...) a combat mission is met. However, the weight of individual influences will likely be variable in relation to the specific task the autonomous vehicle has to fulfill. **The goal to be attained will always be decisive!** And the objective of the mission can be characterized primarily by time, of the type "Fulfill the task even with possible losses, but the decisive criterion is that it must be fulfilled by ..." In another mission, the primary criterion may be an effect on the target area, such as "Detect the enemy and destroy it; until you do, do not return!" If necessary, "Complete the task with minimal losses on your own side!", etc. So it is important and decisive to be aware of the factors that influence the movement of autonomous vehicle in the specific situation and the specific task and then assign

The fulfillment of the autonomous vehicle task with the acceptance of individual

<sup>P</sup>*mf* <sup>=</sup> fpos1 .kpos1 <sup>+</sup> fpos2 .kpos2 <sup>+</sup> …+fposn.kposn \_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_\_ fneg1 .kneg1 <sup>+</sup> fneg2 .kneg2 <sup>+</sup> …+fnegn.knegn (1)

P*mf*, probability of mission fulfilment; fpos1 till *n,* positive factor (1/first/till n/n-th/); kpos1 till *n*, coefficient of positive factor (1/first/till n/n-th/); fneg1 till *n,* negative factor (1/first/till n/n-th/); kneg1 till *n,* coefficient of negative factor

The coefficient is an integer from one to the value specified by the "assignor of the mission". The coefficients (both positive and negative factors) indicate the weight, the effect of these factors on the fulfillment of the given task. The larger the scale (value) of the coefficients, the more precisely their influence on the task can be defined. The scale can be set, for example, from 1 to 5 (10 and other variants). "Task designer" may even divide these factors into several groups after the factors involved in mission planning, from the point of view of the size of their impact on the task and the individual groups, and their significance separated from each other by a diverse range of coefficients. A group of the most important factors can be evaluated, for

factors and their weight can be expressed also mathematically (1), e.g.,

#### *Military Factors Influencing Path Planning DOI: http://dx.doi.org/10.5772/intechopen.86421*

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

Increased air humidity is manifested especially in winter. For the operation of any technique the optimum relative humidity is around 60%. The functions of all groups and subgroups into which the air is accessible are influenced by the high content of water vapor in the air. In the long run, corrosion can occur, thus rendering any part of autonomous vehicle unnecessary. From a tactical point of view, it is possible to ignite and fog the sighting devices, sighting or significant corrosion of

Visibility is the maximum distance to which the contours of the object observed in daylight under normal human eye conditions can still be distinguished. At night, it is the longest distance to which light can be distinguished by steady and dimly changing luminosity. Visibility is most affected by precipitation and fog and is therefore dependent on the presence of solid particles and water condensation

Visibility is one of the most important meteorological elements influencing

It has a major impact on the exploration, discovery and recognition of the enemy and its activities, the determination of landmarks, and the effective destruction of

Wind may be a cause that will not allow the required combat tasks to be accomplished. Due to strong winds, the autonomous vehicle may be delayed. And also when it comes to the side wind to overturn the autonomous vehicle and hence the inability to continue moving. Combined with rain or snow, it may icy optical devices or sensors (sensors) and thus makes it impossible to control the autono-

Precipitation (rain-fall) are a significant factor and have a great impact on soil conditions and thus the slopes of slopes, roads and terrain especially during winter (snow and deep snow). This is mainly the longest rain, after which the soil is saturated with water and thus decreases its load capacity. Long-term precipitation

In the case of storms, there is a risk of interference with autonomous vehicle thus

Proposed factors were identified as the outputs of complex analysis of the facts in the Army of the Czech Republic Lessons Learned Databases [6] and compared by outputs gained from The Army of the Czech Republic Units Leaders who are using

Factors should not only be considered as factors that negatively affect autonomous

also causes significant changes in the nature of watercourses and surfaces.

military designed autonomous vehicles for fulfilling the military missions.

vehicle's movement. The opposing forces (enemy) vs. our own can be stated in a general sense that if something adversely affects the activity of the enemy, it is for the

*5.2.3 Humidity*

*5.2.4 Visibility*

combat activity.

*5.2.5 Wind conditions*

*5.2.6 Precipitation*

parts of weapon systems.

products in the atmosphere.

the enemy's ground and air targets.

mous vehicle or to limit its (combat) capabilities.

the decommissioning of its electronic systems.

**6. Military factors evaluation for path planning**

**20**

own forces an advantage, a positive influence and vice versa. Positive influences must be able to use by autonomous vehicle, negatively minimize or completely suppress.

Some of the above aspects and autonomous vehicle requirements may be conceived at the same time as the factors that will movement of the autonomous vehicle both during the planning phase of the movement and during the management phase of the movement. Some aspects (factors) will be influencing ground autonomous vehicle, the same factor can affect the air autonomous vehicle in a radically different way and intensity.

The influence of this factor can be assessed by different approaches:


To more precisely the range of effects and the weight of the individual effects on the autonomous vehicle movement will be determined the better equipped autonomous vehicle could be designed (HW and SW) in order to eliminate or reduce the effects of negative influences and will ultimately be higher quality (reliable, faster, with minimizing losses, ...) a combat mission is met. However, the weight of individual influences will likely be variable in relation to the specific task the autonomous vehicle has to fulfill. **The goal to be attained will always be decisive!** And the objective of the mission can be characterized primarily by time, of the type "Fulfill the task even with possible losses, but the decisive criterion is that it must be fulfilled by ..." In another mission, the primary criterion may be an effect on the target area, such as "Detect the enemy and destroy it; until you do, do not return!" If necessary, "Complete the task with minimal losses on your own side!", etc. So it is important and decisive to be aware of the factors that influence the movement of autonomous vehicle in the specific situation and the specific task and then assign these factors their specific weight.

The fulfillment of the autonomous vehicle task with the acceptance of individual factors and their weight can be expressed also mathematically (1), e.g.,

$$\text{tors} \text{ and their weight can be expressed also mathematically (1), e.g.,}$$

$$\text{P.mf} = \frac{\text{fps1. kps1+fps2. kps2 + ...+fpsn. kpsn}}{\text{freg1. kneg1.} + \text{freg2. kneg2 + ...-fnegn. knegn}}\tag{1}$$

where:

P*mf*, probability of mission fulfilment; fpos1 till *n,* positive factor (1/first/till n/n-th/); kpos1 till *n*, coefficient of positive factor (1/first/till n/n-th/); fneg1 till *n,* negative factor (1/first/till n/n-th/); kneg1 till *n,* coefficient of negative factor (1/first/till n/n-th/).

The coefficient is an integer from one to the value specified by the "assignor of the mission". The coefficients (both positive and negative factors) indicate the weight, the effect of these factors on the fulfillment of the given task. The larger the scale (value) of the coefficients, the more precisely their influence on the task can be defined. The scale can be set, for example, from 1 to 5 (10 and other variants). "Task designer" may even divide these factors into several groups after the factors involved in mission planning, from the point of view of the size of their impact on the task and the individual groups, and their significance separated from each other by a diverse range of coefficients. A group of the most important factors can be evaluated, for

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


#### **Table 1.**

*Example of evaluation factors influencing autonomous vehicle movement.*

example, coefficients ranging from 1 to 10, a group of minor factors, coefficients in the range 1–6, and a group of least significant factors, coefficients in the range 1–3.

The result of calculating the probability of completing a task is either left in a fraction that is adjusted to the "number" on the numerator or denominator side (e.g., 1/3.8 or 2.6/1). Such a fraction shape gives a multiple predominance of the probability of fulfilling/not fulfilling the task.

The possible factors affecting the ground autonomous vehicle (as listed in **Table 1**) to which the "assignor of a particular task" has to assign a specific value before commencing (in the mission planning process).
