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Practical Applicability of Tree Spacing Passability Analysis on Vehicle Path Planning

  • Conference paper
  • First Online:
Modelling and Simulation for Autonomous Systems (MESAS 2023)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 14615))

  • 49 Accesses

Abstract

The article describes an off-road passability analysis as a key component of many autonomous systems, where plenty of geographical, technical as well as tactical factors or conditions must be included. One of the most challenging environments for the assessment of trafficability is forest. The major factor determining the trafficability through forests is a tree spacing. However, even if tree spacing is wider than the width of a vehicle, the passability is not guaranteed. The object of this paper is to point out that digital data files from the varied forests types were obtained by a geodetic as well as aerial photogrammetric methods. That data sources can be considered as an essential factor of digital battlefield environment influencing the path’s length extension. Predetermined routes were calculated and compared via two types of analyses in order to verify if they can be used as an input factor for autonomous ground vehicle’s (UGV) decision making process. This analysis can be modified and extended due to other geographical, tactical or technical features using others terrain feature modelling and advanced algorithms, subsequently that results can be used for commander’s decision-making process.

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Acknowledgement

The work by authors from the University of Defence from the Faculty of Military Technologies and the Department of Military Robotics presented in this paper has been supported by the Ministry of Defence of the Czech Republic – research project DZRO-FVT22-VAROPS.

Next this research was funded by the Faculty of Mechanical Engineering, Brno University of Technology under the project FSI-S-23-8334 “Research and development of new methods and approaches in the field of modelling and control of mechatronic systems”.

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Authors and Affiliations

  1. University of Defence, Brno, Czech Republic

    Dana Kristalova, Jaromir Capek, Jan Nohel & Josef Kriz

  2. University of Technology, Brno, Czech Republic

    Roman Adamek

Authors
  1. Dana Kristalova
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  2. Jaromir Capek
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  3. Roman Adamek
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  4. Jan Nohel
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  5. Josef Kriz
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Corresponding author

Correspondence to Dana Kristalova .

Editor information

Editors and Affiliations

  1. University of Defence, Kounicova, Czech Republic

    Jan Mazal

  2. University of Palermo, Palermo, Italy

    Adriano Fagiolini

  3. Brno University of Technology, Brno, Czech Republic

    Petr Vasik

  4. NATO MSCOE, Rome, Italy

    Francesco Pacillo

  5. University of Genoa, Genoa, Italy

    Agostino Bruzzone

  6. Bundeswehr University Munich, Neubiberg, Germany

    Stefan Pickl

  7. University of Defence, Brno, Czech Republic

    Petr Stodola

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Kristalova, D., Capek, J., Adamek, R., Nohel, J., Kriz, J. (2025). Practical Applicability of Tree Spacing Passability Analysis on Vehicle Path Planning. In: Mazal, J., et al. Modelling and Simulation for Autonomous Systems. MESAS 2023. Lecture Notes in Computer Science, vol 14615. Springer, Cham. https://doi.org/10.1007/978-3-031-71397-2_6

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  • DOI: https://doi.org/10.1007/978-3-031-71397-2_6

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-71396-5

  • Online ISBN: 978-3-031-71397-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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