Yugra State University BulletinYugra State University BulletinВестник Югорского государственного университета1816-92282078-9114Yugra State University70617610.18822/byusu20260377-82Mathematical modeling and information technologyМатематическое моделирование и информационные технологииResearch ArticleTraversability assessment for wheeled vehicles using point cloud data with vehicle geometric and kinematic constraintsОценка проходимости местности для колесных транспортных средств по данным облака точек с учетом геометрических и кинематических ограничений транспортного средстваhttps://orcid.org/0009-0004-1414-2904JDD-1555-20237842-3189PirogovMichail A.ПироговМихаил Андреевич
Russian Federation

Postgraduate student

аспирант

secondAcy@yandex.ruTyumen State UniversityТюменский государственный университет3009202622377822104202606072026Copyright ©; 2026, Yugra State UniversityCopyright ©; 2026, Югорский государственный университет2026Yugra State UniversityЮгорский государственный университетhttps://creativecommons.org/licenses/by-sa/4.0https://vestnikugrasu.org/byusu/article/view/706176

Subject of research: simulation and mathematical modeling methods for robot mechanics, algorithms for constructing cross-country maps, and methods for identifying and integrating the characteristics of a specific wheeled platform.

Purpose of research: a method for constructing a global obstacle map that takes into account the interaction of a wheeled vehicle platform with terrain.

Research methods: methods of terrain traversability analysis, simulation modeling, processing of sensory data, formalization of obstacle criteria and geometric constraints.

Objects of research: the process of constructing an adaptive obstacle map for wheeled vehicles taking into account the interaction of the platform with the terrain.

Research findings: a method for constructing a comprehensive assessment of the cross-country ability of an environment has been developed, taking into account the design and kinematic characteristics of the platform and the geometric properties of the environment.

Предмет исследования: методы имитационного и математического моделирования механики робота, алгоритмы построения карт проходимости, методы выявления и интеграции характеристик конкретной колесной платформы.

Цель исследования: метод построения глобальной карты проходимости, учитывающий взаимодействие платформы колесного транспортного средства с рельефом и препятствиями.

Методы исследования: методы анализа проходимости, имитационное моделирование, обработка сенсорных данных, формализация критериев препятствий и геометрических ограничений.

Объекты исследования: процесс построения адаптивной карты препятствий для колесных транспортных средств с учётом взаимодействия платформы с рельефом.

Основные результаты исследования: разработан метод построения комплексной оценки проходимости среды, учитывающий конструктивные и кинематические характеристики платформы и геометрические свойства среды.

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