الملخص
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A vehicle's heading affects both the surfaces beneath its tires and its pitch and roll. We present Vehicle-Conditioned Terrain Planning (VCTP), which retains these relationships by evaluating shared elevation and surface-ID layers at eight headings. Body geometry constrains admissibility, while loaded wheel contacts determine modeled surface cost and predicted pitch and roll. Established D* Lite and vehicle-state search use these evaluations to plan routes with forward and reverse motion. When observations change, VCTP recomputes every affected body or contact query. In fully observed two-track simulations, sampling at wheel contacts rather than at the vehicle center lowers modeled surface cost by 39.3% while shortening the route. In offline planning on RGator recordings, VCTP also reduces modeled costs over identified surfaces and observed support relative to distance-focused planning, although incomplete coverage leaves full-route rankings unresolved. Selective updates match full recomputation in all 474 comparisons using recorded map changes. These results identify when wheel-contact placement and vehicle heading affect route choice.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Naik, A., Sreenivas, R. S., Nottage, D., & Soylemezoglu, A. (2026). VCTP: تخطيط التضاريس المشروط بالمركبة للملاحة خارج الطرق. https://omanscience.com/ar/articles/vctp-vehicle-conditioned-terrain-planning-for-off-road-navigation
MLA 9
Naik, Akshay, et al. "VCTP: تخطيط التضاريس المشروط بالمركبة للملاحة خارج الطرق." https://omanscience.com/ar/articles/vctp-vehicle-conditioned-terrain-planning-for-off-road-navigation.
شيكاغو (المؤلف–التاريخ)
Naik, Akshay, Ramavarapu S. Sreenivas, Dustin Nottage, and Ahmet Soylemezoglu. 2026. "VCTP: تخطيط التضاريس المشروط بالمركبة للملاحة خارج الطرق." https://omanscience.com/ar/articles/vctp-vehicle-conditioned-terrain-planning-for-off-road-navigation.
هارفارد
Naik, A., Sreenivas, R. S., Nottage, D. and Soylemezoglu, A. (2026) 'VCTP: تخطيط التضاريس المشروط بالمركبة للملاحة خارج الطرق', Available at: https://omanscience.com/ar/articles/vctp-vehicle-conditioned-terrain-planning-for-off-road-navigation.
فانكوفر
Naik A, Sreenivas RS, Nottage D, Soylemezoglu A. VCTP: تخطيط التضاريس المشروط بالمركبة للملاحة خارج الطرق. https://omanscience.com/ar/articles/vctp-vehicle-conditioned-terrain-planning-for-off-road-navigation
IEEE
A. Naik, R. S. Sreenivas, D. Nottage, and A. Soylemezoglu, "VCTP: تخطيط التضاريس المشروط بالمركبة للملاحة خارج الطرق," https://omanscience.com/ar/articles/vctp-vehicle-conditioned-terrain-planning-for-off-road-navigation.