Application of the model of multi-component compound motion in controlling unmanned mobile machines
M.A. Podryhalo, A.I. Nikorchuk · The collection of scientific works of the National Academy of the National Guard of Ukraine · 2025
The replacement of humans with robots on the battlefield is not a new idea, but today it has seen significant development, particularly in the implementation of technologies that were considered unattainable just a few decades ago. First and foremost, this concerns unmanned ground vehicles (hereafter referred to as UGVs), which enable the execution of combat missions as well as logistics support tasks. Their advantages include the absence of a driver and the possibility of creating a low-profile vehicle, as well as a lower cost compared to a manned vehicle. However, one disadvantage is the remote control via radio signal. The enemy can use electronic warfare (EW) tools to disrupt control signals, and the alternative – wired control – limits the operational range of the UGV. A promising direction in military robotization is the deployment of autonomous UGVs, which eliminates the human factor during task execution and allows UGVs to operate as part of a group, thereby gaining an advantage over the enemy. Managing a group of UGVs is a complex process, and it is essential to ensure coordinated movement between the UGVs and monitor their dynamic characteristics. This article proposes using a model of multi-component complex motion, which allows for the monitoring of the stability and controllability of UGVs. The suggested control indicators are vectors of relative linear and angular accelerations, which provide insight into the stability and maneuverability of the UGV group. To ensure accurate movement of the UGV group, it is proposed to consider them as a mechanism with a high number of degrees of freedom and non-rigid kinematic pairs, allowing for certain relative displacements of the links. The connections between these kinematic pairs are referred to by the authors as telecommunicative or informational links.