5.3 Evaluation of experiments No. 1 and No. 2

As for the movement of reconnaissance groups in experiment No. 1, a noticeable difference in time required for planning the movement route was observed. When planning the movement route, the ALFA group commander used mainly his knowledge and experience and a printed military topographic map. He was not able

Figure 6. Autonomous vehicle movement route (source: TDSS).

terrain passability characteristics, in which the system also included the possibilities of the enemy visibility. The priority was to lead the movement route off roads for safety reasons, which was achieved by the deliberate suppression of variable speeds on the routes in the TDSS. Through linking the calculations together, the system calculated the areas concealed from the identified enemy's observation. Subsequently, it used the areas identified in this way to create the fastest and safest movement route. The group covered the route (2963 m long) in 75 minutes. The time calculated using the TDSS to cover this route was 68 minutes. During this movement, the group was not observed by the enemy soldiers. In the time of

Experiment No. 2 was carried out using the simulation of an autonomous vehicle in the form of a Yamaha Grizzly off-road four-wheeler (Figure 5) driven by one person and powered by a gasoline engine. The four-wheeler was selected due to similar terrain passability characteristics as a modern UGV. The need for direct

78 minutes, the group started observing the object of interest.

Figure 3.

Figure 4.

90

The movement route of the ALFA group (source: TDSS).

Path Planning for Autonomous Vehicles - Ensuring Reliable Driverless Navigation…

The movement route of the BRAVO group (source: TDSS).

5.2 Experiment No. 2: Movement of an autonomous vehicle

to accurately estimate the areas endangered by the enemy fire (by observation). Therefore, he directed the movement route through the forest vegetation, which provided the group with an estimated cover from observation from the ground. For planning the movement route, the BRAVO group commander took advantage of the optimal movement route model in the TDSS, which accurately calculated the areas concealed from the enemy's observation. Subsequently, the TDSS used these areas for planning the fastest and safest movement route, provided that the enemy does not significantly change his deployment or that he patrols the area. Its practical realization can be considered in terms of the necessity to fulfill the task as quickly as possible, with the acceptance of the abovementioned risk. In the case of an autonomous vehicle (four-wheeler), the route designed by the TDSS was the fastest and safest one for wheeled vehicles with variable speeds adapted to the type of vehicle (see Figure 7). The terrain passable for the Yamaha Grizzly off-road four-wheeler includes especially roads and open areas by the reason of its wheel undercarriage. Its height of 1240 mm is comparable to the height of the UGV, developed or used in modern armies (compare) [20]. The lower silhouette of the vehicle and the unmanned control make it possible to use even less concealed areas for the movement. The driver of the four-wheeler followed the proposed route and eliminated the impact of the microrelief on the terrain passability using the control mechanisms of the vehicle. In none of the experiments mentioned, the reconnaissance group or the four-wheeler was observed by the enemy. The movement of all elements was stopped in the area of the target object at a maximum distance of visibility. An additional change of the position of the observation post was subsequently done with the utmost care and minimum movement. In the case of fourwheeler approach, the guard of the target object would hear the sound of the vehicle engine but without locating the exact position. At that time, the four-wheeler appeared approximately 200 m from the object.

even at the price of the risk of revelation on the account of the enemy's

group movement.

occurrence.

93

6. Maneuver control system

Model of the Optimal Maneuver Route DOI: http://dx.doi.org/10.5772/intechopen.85566

frontal direction. It is defined in [21].

unpredictable movement or the use of a hostile air reconnaissance. The reconnaissance of an important target, e.g., command posts or the location of fire support means, can be mentioned as examples. Using the TDSS optimal maneuver model in experiment No. 1, the total time from the receipt of the task to the attainment of readiness to fulfill it was reduced to 9 minutes. The calculation of the time to cover the movement route had a difference of 38 minutes from the real time of the ALFA

The optimal maneuver route model described in [11] represents the basis for optimizing the maneuver between the starting point and the target point of the maneuver. It can be used for dealing with different tactical situations and tasks on the battlefield including the UGV maneuver. One of them is an offensive maneuver performed by military forces and equipment; its technical term is flanking maneuver. The flanking maneuver represents an offensive maneuver of a part of the military unit, in which the detached forces attack on the flank and the rear of the enemy in the firing and tactical cooperation with the units attacking from the

One of the most significant benefits of this chapter is the flanking maneuver model, which represents the complement to the TDSS [11] in the form of the Maneuver Control System CZ application program. It is specified by the so-called invisible layer of the cost surface of passability in the form of an impassable (forbidden) area. This impassable area is in the form of a circle with a diameter equal to the distance "d" between the position of a friendly unit and an attacking unit of the enemy, but not more than 1 km. The attacking unit is divided into two independent elements, i.e., a firing group and an assault group. The TDSS suggests the maneuver route of the firing element to the nearest edge of the visibility area of the target enemy, but not more than 1 km from his position. The 1 km distance is specified in the model due to the expected maximum distance of the direct fire by handguns and mounted weapons. The firing group of the unit should be able to hold the enemy under fire at this maximum distance. Then, depending on the terrain, the assault group should be able to bypass this circular distance to the enemy and cover it. In the case of planning the offensive activity at a distance greater than 1 km, the TDSS will plan the movement route of the firing group to the nearest area with the direct visibility of the enemy (see

Figure 8). Subsequently, it will plan the maneuver route of the assault group maintaining 1 km of the circular forbidden area. The reason is a real feasibility and success rate of the offensive maneuver in the direction of the enemy at a distance of

The maximum usability of the flanking maneuver in the TDSS can be considered when dealing with a response to attacking the unit by a weaker enemy, in the case of its inability to leave the attacked area completely (see Figure 9). Such a situation can occur, for example, in the case of multiple injuries of friendly forces or during the movement using combat vehicles. The solution of this situation can provide the enemy with the time, which he will probably use to change his position or to perform a direct attack without a direct pressure on his forces and equipment. The route of the flanking maneuver will be created outside the impassable circle, without including the layer of influence (the maximum effective range) of the target enemy. The reason for not including the target enemy's maximum effective range may be the absence of the fastest and safest route of movement to the area of his

1 km or more while the firing group attacks on the identified enemy.

The experiments performed have proven the usefulness of the optimal maneuver model, especially when solving the situations requiring the fastest maneuver,


to accurately estimate the areas endangered by the enemy fire (by observation). Therefore, he directed the movement route through the forest vegetation, which provided the group with an estimated cover from observation from the ground. For planning the movement route, the BRAVO group commander took advantage of the optimal movement route model in the TDSS, which accurately calculated the areas concealed from the enemy's observation. Subsequently, the TDSS used these areas for planning the fastest and safest movement route, provided that the enemy does not significantly change his deployment or that he patrols the area. Its practical realization can be considered in terms of the necessity to fulfill the task as quickly as possible, with the acceptance of the abovementioned risk. In the case of an autonomous vehicle (four-wheeler), the route designed by the TDSS was the fastest and safest one for wheeled vehicles with variable speeds adapted to the type of vehicle (see Figure 7). The terrain passable for the Yamaha Grizzly off-road four-wheeler includes especially roads and open areas by the reason of its wheel undercarriage. Its height of 1240 mm is comparable to the height of the UGV, developed or used in modern armies (compare) [20]. The lower silhouette of the vehicle and the unmanned control make it possible to use even less concealed areas for the movement. The driver of the four-wheeler followed the proposed route and eliminated the impact of the microrelief on the terrain passability using the control mechanisms of the vehicle. In none of the experiments mentioned, the reconnaissance group or the four-wheeler was observed by the enemy. The movement of all elements was stopped in the area of the target object at a maximum distance of visibility. An additional change of the position of the observation post was subsequently done with the utmost care and minimum movement. In the case of fourwheeler approach, the guard of the target object would hear the sound of the vehicle engine but without locating the exact position. At that time, the four-wheeler

Path Planning for Autonomous Vehicles - Ensuring Reliable Driverless Navigation…

The experiments performed have proven the usefulness of the optimal maneuver model, especially when solving the situations requiring the fastest maneuver,

appeared approximately 200 m from the object.

Speeds of Yamaha Grizzly on individual types of surface in the TDSS (source: TDSS).

Figure 7.

92

even at the price of the risk of revelation on the account of the enemy's unpredictable movement or the use of a hostile air reconnaissance. The reconnaissance of an important target, e.g., command posts or the location of fire support means, can be mentioned as examples. Using the TDSS optimal maneuver model in experiment No. 1, the total time from the receipt of the task to the attainment of readiness to fulfill it was reduced to 9 minutes. The calculation of the time to cover the movement route had a difference of 38 minutes from the real time of the ALFA group movement.
