**5. Environment**

Last but not least, the type of autonomous vehicle will influence the intent to use in a specific environment in which the autonomous vehicle fulfills and performs the desired activity. Completely different requirements for autonomous vehicle design, parameters and technology will have an urbanized, hilly and wooded environment and other desert or arctic environment.

The limitations set out help us to specify what type of autonomous vehicle is best for our purposes in order to efficiently use and meet the desired goals of the operation. The following list of factors applies without limitation to all autonomous vehicles. Which factor and level of its impact on the move depends on the choice of the type of autonomous vehicle.

### **5.1 Geographical factors**

One of the basic groups of factors influencing autonomous vehicle movement are factors of a geographical nature. Area of operation will fundamentally affect the process of planning and executing autonomous vehicle moves. Combined with another factor such as weather, these factors are no less important as an opposite force (enemy).

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 more important than tactical factors.

Geographic factors affecting autonomous vehicle path planning are:


#### *5.1.1 Terrain relief*

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.

#### *5.1.2 Terrain throughput*

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 Section 5.1.5.

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 season and the hydro-meteorological conditions.

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

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

the space among trees.

*5.1.3 Shelters and covers*

*5.1.4 Terrain load capacity*

autonomous vehicle shifts.

Natural obstacles:

○ shrubs and ravines

• vegetation:

○ sets,

○ hop,

○ rivers,

○ streams,

• water:

*5.1.5 Obstacles*

mous vehicle rate of movement.

influenced by the types of vegetation (shrubs, grasses or trees), their density and

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

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

The decisive influence on the behavior of autonomous vehicle has the properties of the earth surface with which the vehicle meets its wheels (belts). This surface can be divided into "pavements" (suitably treated surface) and "terrain" (modified only

Defining the surface type (grass, asphalt, sand, etc.) characterized by a certain degree of adhesion and rolling resistance is another sub-parameter that will affect

Soil conditions, along with current meteorological conditions (especially rainfall

and air and soil temperatures) are logically another factor that cannot be overlooked when planning autonomous vehicle shifts as they greatly affect the autono-

Obstacles generally prevent the maneuver from making or directing it from spaces with more favorable or disadvantageous conditions for its implementation. For autonomous vehicle needs, it is necessary to define the types of major obstacles and the autonomous vehicle activity when dealing with the obstacle. It is also necessary for each autonomous vehicle to be able to evaluate the tactical importance of the obstacle at a certain stage of the combat task and to be able to use the obstacle to

the intended gathering points or directions of action of enemy units.

realizing the intentions of who controls the given key space.

partially-forest or field roads-or not modified at all).

its own advantage or against the enemy's activity.

○ species and types of forests and wooded areas,

influenced by the types of vegetation (shrubs, grasses or trees), their density and the space among trees.
