5.2 Experiment No. 2: Movement of an autonomous vehicle

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

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

#### Figure 5.

The Yamaha Grizzly four-wheeler (source: own).

control and the influence of microrelief were eliminated thanks to the four-wheeler driver. The optimal movement route model implemented in the TDSS was used to plan and cover the UVG movement route. Entering the identified enemy positions in the TDSS and the minimum necessary preparation for the movement took 3 minutes. The UGV route was designed in the passability mode "for wheeled vehicles," and its course can be seen in Figure 6. As in the BRAVO reconnaissance group, the TDSS assessed the passability possibilities of the vehicles in the field and calculated the areas concealed from the observation and fire of the identified enemy. Covering the proposed fastest and safest route (3419 m long) of the fourwheeler took 7 minutes and 25 seconds. During the movement, the vehicle at 124 cm high was not observed by the enemy. However, its engine running was audible, which could be replaced by a silent electric motor. The time calculated by the TDSS to cover this route was 7 minutes and 4 seconds.
