Practical Applicability of Tree Spacing Passability Analysis on Vehicle Path Planning

Practical Applicability of Tree Spacing Passability Analysis on Vehicle Path Planning

Stať ve sborníku v databázi WoS či Scopus

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.

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.

Passability in forest; algorithms for off-road maneuverer; ArcGIS analysis; trafficability calculation in a terrain; off-road navigation; optimization of routes; cross-country movement; terrain feature modelling; algorithms for path planning

Passability in forest; algorithms for off-road maneuverer; ArcGIS analysis; trafficability calculation in a terrain; off-road navigation; optimization of routes; cross-country movement; terrain feature modelling; algorithms for path planning

KRISTALOVA, D.; CAPEK, J.; ADÁMEK, R.; NOHEL, J.; KRIZ, J.

2026

07.03.2025

978-3-031-71396-5

Modelling and Simulation for Autonomous Systems

Lecture Notes in Computer Science

14615

Švýcarská konfederace

68

91

24