THE ANALYSIS OF DOMESTIC AND FOREIGN EXPERIENCE IN THE CREATION OF UNMANNED GROUND VEHICLES FOR SPECIAL PURPOSE

Abstract

The domestic and foreign experience of creating unmanned ground vehicles (UGV) for special purposes has been considered in the article. The main directions of UGV design development were revealed: robotization of existing vehicle samples by introducing remote control systems; the creation of UGV based on the base of chassis systems elements designed for crew operated vehicles; the creation of UGV originally purposed for unmanned use. The classification of UGV for special purposes, adopted in domestic and foreign literature, was studied. The development stages of domestic ground robotics were analyzed. The analysis of the known works showed that all the modern studies related to the creation of the UGV were aimed at providing controlled motion without a crew, but there were practically no works aimed at increasing mobility. This was due to the fact that the existing in the Russian Federation unmanned vehicles of heavy and middle classes were built on the basis of the running systems designed to accommodate the crew and purposed to meet the requirements caused by the psycho-physiological capabilities of man. In this connection, there was a need to develop a new method for ensuring high mobility of the UGV at the design stage, taking into account the absence of limitations imposed by the psycho-physiological capabilities of the crew, such as: vibration loads; the perception speed of visual information; impact on the controls and the geometric position of the person relative to the support surface. When designing the UGV, the absence of restrictions imposed by the psycho-physiological capabilities of the crew makes it possible to realize higher mobility indicators by applying new design methods together with mathematic simulation modeling.