01591nas a2200157   4500000000100000008004100001653002400042653001800066653001800084100002000102700002000122245007200142300001200214490000700226520120000233       2021                            d10aautonomous platform10apath planning10avisible areas1 aAlexander Ranov1 aAlexander Kolev00aA Security Approach to a Military Autonomous Platform Path Planning  a193-2030 v503 a<p style="margin-left:19.85pt;">In this article, the authors consider the functional characteristics of autonomous platforms for various purposes and, in particular, ground autonomous platforms for military use with their specific requirements. At the forefront of the study is the ability to plan the platform’s path without using the existing road network and with maximum use of the characteristics of the terrain for covert movement vis-à-vis the position of an enemy observer. A methodology for creating a test environment with the application of an open-source software tool and a system for developing functional extensions (plugins) is presented. The mathematical bases for data processing for the altitude of the earth’s surface in determining the slope and the conditions for visibility are presented. A digital experiment for trajectory planning with the application of digital data for the height of the earth’s surface was performed. The experiment clarifies the initial data structures and the applied algorithms for trajectory planning in the conditions of hidden movement. Finally, the authors evaluate the achieved results and outline directions for further research.</p>