Title: Multifractal Terrain Generation for Evaluating Autonomous Off-Road Ground Vehicles Show Chinese title

Title: 多分形地形生成用于评估自主非铺装地面车辆

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 13.8% and 7.16%, the median area of semi-rough terrain increases 11.7% and 5.63%, and the median area of high-roughness terrain increases 1.54% and 3.33%, all respectively. We find that the median success rate of the vehicle decreases 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. Show Chinese abstract

Abstract: 我们提出了一种多分形人工地形生成方法，该方法使用3D魏尔斯特拉斯-曼德博函数来控制粗糙度。通过在地形生成中使用三种不同的分形维数，我们生成了60种独特的非公路地形。我们使用梯度图来对每种地形的粗糙度进行分类，包括低、半和高粗糙度区域。为了测试分形维数如何影响车辆穿越的难度，我们测量了自主地面车辆在每种地形中穿越20条随机直线路径的成功率、垂直加速度、俯仰和翻滚速率以及穿越时间。当我们从2.3增加到2.45，再从2.45增加到2.6时，发现低粗糙度地形的中位面积分别减少了13.8%和7.16%，半粗糙地形的中位面积分别增加了11.7%和5.63%，高粗糙度地形的中位面积分别增加了1.54%和3.33%。我们发现，随着分形维数从2.3增加到2.45，再到2.6，车辆的中位成功率分别下降了22.5%和25%。成功的穿越结果表明，中位均方根垂直加速度、中位均方根俯仰和翻滚速率以及中位穿越时间都随着分形维数的增加而增加。