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    Multifractal Terrain Generation for Evaluating Autonomous Off-Road Ground Vehicles

    Source: Journal of Autonomous Vehicles and Systems:;2025:;volume( 005 ):;issue: 002::page 21003-1
    Author:
    Majhor, Casey D.
    ,
    Bos, Jeremy P.
    DOI: 10.1115/1.4067769
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: We present a multifractal artificial terrain generation method that uses the 3D Weierstrass–Mandelbrot function to control roughness. By varying the fractal dimension used in terrain generation across three different values, we generate 60 unique off-road terrains. We use gradient maps to categorize the roughness of each terrain, consisting of low-, semi-, and high-roughness areas. To test how the fractal dimension affects the difficulty of vehicle traversals, we measure the success rates, vertical accelerations, pitch and roll rates, and traversal times of an autonomous ground vehicle traversing 20 randomized straight-line paths in each terrain. As we increase the fractal dimension from 2.3 to 2.45 and from 2.45 to 2.6, we find that the median area of low-roughness terrain decreases by 13.8% and 7.16%, the median area of semi-rough terrain increases by 11.7% and 5.63%, and the median area of high-roughness terrain increases by 1.54% and 3.33%, respectively. We find that the median success rate of the vehicle decreases by 22.5% and 25% as the fractal dimension increases from 2.3 to 2.45 and from 2.45 to 2.6, respectively. Successful traversal results show that the median root-mean-squared vertical accelerations, median root-mean-squared pitch and roll rates, and median traversal times all increase with the fractal dimension.
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      Multifractal Terrain Generation for Evaluating Autonomous Off-Road Ground Vehicles

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    contributor authorMajhor, Casey D.
    contributor authorBos, Jeremy P.
    date accessioned2025-04-21T10:37:34Z
    date available2025-04-21T10:37:34Z
    date copyright2/17/2025 12:00:00 AM
    date issued2025
    identifier issn2690-702X
    identifier otherjavs-23-1047.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4306575
    description abstractWe present a multifractal artificial terrain generation method that uses the 3D Weierstrass–Mandelbrot function to control roughness. By varying the fractal dimension used in terrain generation across three different values, we generate 60 unique off-road terrains. We use gradient maps to categorize the roughness of each terrain, consisting of low-, semi-, and high-roughness areas. To test how the fractal dimension affects the difficulty of vehicle traversals, we measure the success rates, vertical accelerations, pitch and roll rates, and traversal times of an autonomous ground vehicle traversing 20 randomized straight-line paths in each terrain. As we increase the fractal dimension from 2.3 to 2.45 and from 2.45 to 2.6, we find that the median area of low-roughness terrain decreases by 13.8% and 7.16%, the median area of semi-rough terrain increases by 11.7% and 5.63%, and the median area of high-roughness terrain increases by 1.54% and 3.33%, respectively. We find that the median success rate of the vehicle decreases by 22.5% and 25% as the fractal dimension increases from 2.3 to 2.45 and from 2.45 to 2.6, respectively. Successful traversal results show that the median root-mean-squared vertical accelerations, median root-mean-squared pitch and roll rates, and median traversal times all increase with the fractal dimension.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleMultifractal Terrain Generation for Evaluating Autonomous Off-Road Ground Vehicles
    typeJournal Paper
    journal volume5
    journal issue2
    journal titleJournal of Autonomous Vehicles and Systems
    identifier doi10.1115/1.4067769
    journal fristpage21003-1
    journal lastpage21003-12
    page12
    treeJournal of Autonomous Vehicles and Systems:;2025:;volume( 005 ):;issue: 002
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian