Research on a method of digital map generation for tracked equipment maneuvering on soft ground

The mobility of equipment refers to the ability of fast driving under various road, ground and terrain conditions that may be encountered in the tactical background. In recent years, with the rapid development of national defense and aerospace, tracked equipment is required to reach more and more areas. However, due to its low bearing capacity and low adhesion capacity, soft roads such as sandy land, swamp, farmland, tidal flat and lunar soil are easy to cause subsidence, resulting in low driving efficiency or even inability to drive, which seriously restricts the feasibility of driving equipment. In this paper, considering the characteristics of tracked equipment, through the superposition of multi-layer spatial information such as slope, aspect, soil and elevation data, based on equipment dynamics, fuzzy theory and ant colony algorithm, the generation of mobile digital map and mobile path planning of tracked equipment under soft road and complex terrain are studied, which has important practical significance.