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

vehicles, there is still a need for direct control in the terrain due to the accidental occurrence of microrelief forms and obstacles. The implemented model represents a basis for planning the movement route before the task fulfillment itself. The experiments realized have verified the function of the optimal movement route model when neither the reconnaissance group nor the autonomous vehicle was observed by the enemy. The total time of the UGV with the use of the TDSS to cover the route of maneuver was 67 minutes shorter than the real time of the BRAVO group movement with the use of the TDSS and 105 minutes shorter than the real time of the ALFA group without the use of the TDSS.

The TDSS calculation results are available in the order of seconds from the definition of all the tactical situation variables and the commencement of the calculation. This speed of calculation significantly minimizes time demands of the unit commanders' decision-making process. The functionality of the system has been verified in response to the enemy attacking a moving unit, the consequence of which was one incapacitated vehicle with a severely injured driver. The tactical situation of experiment No. 3 has been created precisely for the situation that demonstrates the most appropriate use of the TDSS. These are especially the situations with great time demands for creating an optimized decision, when friendly forces are endangered by the enemy. To achieve a successful solution with minimal death toll and loss of material, the decision must be taken as soon as possible after the attack of the enemy. The comparison of responses to the attack shows that the BRAVO group using the Maneuver Control System (MCS CZ) as part of the TDSS destroyed the attackers by 71 seconds faster than the ALFA group without the use of the TDSS. The optimal maneuver route model and the MCS CZ implemented in the TDSS represent the appropriate support tools for the command and control process in the military operation. They can also be used for planning a maneuver route of logistic support units and equipment if these units use UGVs for their activities in a military operation. Another possibility for using other types of autonomous vehicles is in military amphibious operations. The MCS CZ can be easily adapted to amphibious operations by adding a layer of the water surface. The standard part of the MCS CZ analyzes the terrain passability during the approach of the vehicle to the water surface. The added layer of the water surface will evaluate the character of the bottom along the coast as an approach route to the sea or to the river. The influence of direction and power of a water stream as a passability factor for amphibious vehicles as well as the standard or planned shipping lanes would also be included in this special water layer. The abovementioned MCS CZ update will reduce the risks of autonomous amphibious vehicles during the approach to the water surface and shipping.

attacked unit commander, as well as in the mode of maneuver execution. The difference in time of the commencement of the flanking maneuver to the enemy's position shows that the assault group of the BRAVO unit started more than

Path Planning for Autonomous Vehicles - Ensuring Reliable Driverless Navigation…

would be completely destroyed by rapid response of the BRAVO unit.

The terrain in the attacked area did not enable executing the direct attack, and, therefore, both units used the flanking maneuver. The maneuver route of the ALFA unit was displaced to the area where the commander expected the most advantageous and safest fire position. On the contrary, the BRAVO unit carried out the flanking maneuver using the fastest and safest route. The maneuver speed of the BRAVO unit created an effective pressure on the enemy's activity; he had to partially switch his attention to the damaged vehicle. At approximately 5 minutes and 40 seconds, after the commencement of the attack, the assault group of the BRAVO unit began firing on the enemy's position. The comparison of both responses to the attack shows that the BRAVO unit destroyed the attackers by 71 seconds faster than the ALFA unit. From the abovementioned facts, it can be stated that if the enemy did not abandon its position immediately after the commencement of the attack, he

The abovementioned text has described the structure of the optimal movement

The optimal movement route model, implemented in the TDSS, has proven its usefulness even when planning the movement route of autonomous vehicles. In its calculations, it combines the assessment of all terrain and safety characteristics of the operational area; it also focuses on the possibilities of the passability of wheeled vehicles in the terrain. The passability of the routes calculated has been verified and confirmed during the experiments. Nevertheless, in the case of autonomous

route model implemented in the TDSS and its further possible use within the Maneuver Control System application. The practical benefit is a total of three experiments, in which two groups of soldiers and an autonomous vehicle simulation have been used. The results of the experiments have shown that the optimal movement route model is functional and very effective from the viewpoint of time demands for creating a movement route and the method of deploying military

20 seconds earlier than the ALFA unit.

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

7. Conclusion

Figure 11.

forces.

96

Path Planning for Autonomous Vehicles - Ensuring Reliable Driverless Navigation…

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