DEVELOPMENT OF AN UNMANNED GROUND VEHICLE FOR COASTAL MONITORING

摘要

The development of oil and gas resources of the Russian shelf is characterized by high degree of risk. Recently, one of the most efficient means for hydrodynamic measurements, determination of speed and sizes of drifting ice and evaluation of coastal hazards is remote sensing by means of radars. The purpose of the project is the creation of a new unmanned ground vehicle (UGV) for radar transportation. Consequently, the main objective of the project is creation of vehicle's chassis with high level of mobility in coastline conditions. Special modular structure with the possibility of re-equipping by different types of mover (wheeled, tracked, rotary-screw) has been chosen for operating in severe coastline conditions. The parameters of the UGV have been determined on the base of vehicle-terrain interaction modeling and designing calculations: traction and speed calculation, evaluation of turnover, geometric trafficability, stability, amphibious properties. Currently, field testing mobility of an experimental prototype of the vehicle is conducted. Tests results will allow revealing the shortcomings of development and identifying ways of optimization of the structure and functioning modes of the UGV. The venue for practicing different variants of movement of the vehicle such as a remote control mode, autonomous bypass of obstacles, motion along a predetermined routes according to georeferencing will be the coast of Sakhalin Island. Thus, the paper reflects the approach to the creation of a new type of mobile systems for heavy duty of shorelines.