*5.1.5 Obstacles*

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 its own advantage or against the enemy's activity.

Natural obstacles:

	- species and types of forests and wooded areas,
	- shrubs and ravines
	- sets,
	- hop,
	- rivers,
	- streams,

### Artificial obstacles:

	- road,
	- railways,
	- bridges and bridges,
	- passes,
	- tunnels,
	- fords,
	- power lines,
	- pipelines.
	- buildings and blocks of buildings,
	- power stations,
	- railway station,
	- chimneys,
	- masts,
	- towers,
	- lookout towers.

#### **5.2 Hydro-meteorological factors**

Hydro-meteorological conditions create advantages and disadvantages for both the enemy and the troops. Thanks to good knowledge of conditions and correct weather information, we can streamline our own troops and also minimize their adverse effects.

**19**

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

able during the wet season.

and the frozen layer below it.

• humidity and water vapor,

• visibility and visibility,

• sunshine and radiation.

izes the heat state of the air.

• wind conditions,

• air temperature,

• air pressure,

• cloudiness,

• collisions,

*5.2.1 Air temperatures*

overheating.

*5.2.2 Air pressure*

Weather in conjunction with the terrain forms an inseparable and mutually integrated system. The weather affects the visibility, the function of the sensors and the weapons used, the autonomous vehicle's operability, but and already mentioned terrain passage. An important aspect of the weather is that the effect of changing

In the summer season, the use of ground autonomous vehicle affects above all

By increasing the humidity in the soil, it becomes more difficult to move the fighting techniques to such an extent that the unpaved roads become unstable. The exception is sandy soils, which are dry in the dry state, they are more solid and pass-

In winter, the strength of the soil without the snow cover depends on the degree of freezing of the surface layer. At melting (thaw) the thickness of the thawed layer

Temperature is one of the basic characteristics of the atmosphere. It character-

Low air temperature in the winter period causes a change in the physical properties of fuels, lubricants and operating materials. It also reduces the capacity of autonomous vehicle batteries. It also works the temperature of the motors, the power of the electrical triggering device and the degree of mechanical wear. High ambient air temperature adversely affects engine operation. It also affects engine cooling, when less air is sucked into the cylinders. Water and operating fluids are also rapidly evaporating. Higher temperatures risk engine

All atmospheric objects and the Earth's surface are affected by the pressure caused by the weight of the atmosphere. Changes in pressure are closely related to the development of basic atmospheric processes. Extremely high or low air pressures can affect the autonomous vehicle control and measurement sensors, observa-

tion devices or autonomous vehicle navigation modules.

weather does not have to valid information recorded on maps.

Climate factors affecting autonomous vehicle:

high air temperature, high dustiness and difficult driving conditions.

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

*Path Planning for Autonomous Vehicles - Ensuring Reliable Driverless Navigation...*

○ water tanks,

○ marshes,

○ swamps,

○ wetlands.

Artificial obstacles:

• communication:

○ road,

○ railways,

○ passes,

○ tunnels,

○ fords,

• utilities:

○ power lines,

○ pipelines.

• built up areas:

○ power stations,

○ railway station,

• other objects:

○ chimneys,

○ masts,

○ towers,

○ lookout towers.

**5.2 Hydro-meteorological factors**

Hydro-meteorological conditions create advantages and disadvantages for both the enemy and the troops. Thanks to good knowledge of conditions and correct weather information, we can streamline our own troops and also minimize their adverse effects.

○ buildings and blocks of buildings,

○ bridges and bridges,

**18**

Weather in conjunction with the terrain forms an inseparable and mutually integrated system. The weather affects the visibility, the function of the sensors and the weapons used, the autonomous vehicle's operability, but and already mentioned terrain passage. An important aspect of the weather is that the effect of changing weather does not have to valid information recorded on maps.

In the summer season, the use of ground autonomous vehicle affects above all high air temperature, high dustiness and difficult driving conditions.

By increasing the humidity in the soil, it becomes more difficult to move the fighting techniques to such an extent that the unpaved roads become unstable. The exception is sandy soils, which are dry in the dry state, they are more solid and passable during the wet season.

In winter, the strength of the soil without the snow cover depends on the degree of freezing of the surface layer. At melting (thaw) the thickness of the thawed layer and the frozen layer below it.

Climate factors affecting autonomous vehicle:

#### *5.2.1 Air temperatures*

Temperature is one of the basic characteristics of the atmosphere. It characterizes the heat state of the air.

Low air temperature in the winter period causes a change in the physical properties of fuels, lubricants and operating materials. It also reduces the capacity of autonomous vehicle batteries. It also works the temperature of the motors, the power of the electrical triggering device and the degree of mechanical wear.

High ambient air temperature adversely affects engine operation. It also affects engine cooling, when less air is sucked into the cylinders. Water and operating fluids are also rapidly evaporating. Higher temperatures risk engine overheating.

#### *5.2.2 Air pressure*

All atmospheric objects and the Earth's surface are affected by the pressure caused by the weight of the atmosphere. Changes in pressure are closely related to the development of basic atmospheric processes. Extremely high or low air pressures can affect the autonomous vehicle control and measurement sensors, observation devices or autonomous vehicle navigation modules.

## *5.2.3 Humidity*

Increased air humidity is manifested especially in winter. For the operation of any technique the optimum relative humidity is around 60%. The functions of all groups and subgroups into which the air is accessible are influenced by the high content of water vapor in the air. In the long run, corrosion can occur, thus rendering any part of autonomous vehicle unnecessary. From a tactical point of view, it is possible to ignite and fog the sighting devices, sighting or significant corrosion of parts of weapon systems.

## *5.2.4 Visibility*

Visibility is the maximum distance to which the contours of the object observed in daylight under normal human eye conditions can still be distinguished. At night, it is the longest distance to which light can be distinguished by steady and dimly changing luminosity. Visibility is most affected by precipitation and fog and is therefore dependent on the presence of solid particles and water condensation products in the atmosphere.

Visibility is one of the most important meteorological elements influencing combat activity.

It has a major impact on the exploration, discovery and recognition of the enemy and its activities, the determination of landmarks, and the effective destruction of the enemy's ground and air targets.

#### *5.2.5 Wind conditions*

Wind may be a cause that will not allow the required combat tasks to be accomplished. Due to strong winds, the autonomous vehicle may be delayed. And also when it comes to the side wind to overturn the autonomous vehicle and hence the inability to continue moving. Combined with rain or snow, it may icy optical devices or sensors (sensors) and thus makes it impossible to control the autonomous vehicle or to limit its (combat) capabilities.

### *5.2.6 Precipitation*

Precipitation (rain-fall) are a significant factor and have a great impact on soil conditions and thus the slopes of slopes, roads and terrain especially during winter (snow and deep snow). This is mainly the longest rain, after which the soil is saturated with water and thus decreases its load capacity. Long-term precipitation also causes significant changes in the nature of watercourses and surfaces.

In the case of storms, there is a risk of interference with autonomous vehicle thus the decommissioning of its electronic systems.


**2.5 Paraprobiotics**

Paraprobiotics are represented by dead probiotic bacteria cells and cell constituents. The idea of treating with inactivated bacterial strains or fragments or even bacterial metabolite products instead of probiotics is reasonable taking into consideration the risk of administrating probiotics in sepsis, immunosuppressed subjects, and premature babies [74, 75]. They are manufactured by cultivating selected strains of bacteria and their subsequent inactivation [76, 77].

The advantages of paraprobiotic administration are the following [78–80]:

Several highly efficient bacterial strains for the health have been selected to be used as paraprobiotics: Bifidobacterium lactis Bb12, Bifidobacterium longum, Lactobacillus gasseri OLL2716, Lactobacillus brevis SBC8803, and Lactobacillus delbrueckii subsp. bulgaricus OLL1073R-1 and Saccharomyces cerevisiae. Moreover, proteins and peptides, polysaccharides (glucans), and fragments of genetic material in the form of AT DNA obtained from Lactobacillus spp. have similar effects [81].

At the moment, there are several *in vitro* studies demonstrating the beneficial immunomodulatory effect of paraprobiotics in IBD patients. Also, some of the paraprobiotic proteins can improve the regeneration of the intestinal mucosa, and yeast cell wall components may improve digestion.

*In vitro* studies demonstrated immunomodulatory, anti-inflammatory, antiproliferative, and antioxidant effects of paraproteins, which seem to be able to prevent and improve the clinical symptoms of IBD patients [82–84].