The Basic Factors on Development of the Drive Control Subsystem for the Special Purpose Mobile Robot Named Geokhod

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Abstract
The paper is devoted to showing up the control aspects of the geokhod that is the new type of tunneling machine. Geokhod may be classified as a special purpose mobile robot. The authors set the following targets: to analyze the main operating modes of the machine; to enunciate the applicable approach to form the dynamic mathematical models of mechanical and hydraulic subsystems of the geokhod in these operating modes. In the paper, the kinematic schemes of the geokhod main systems are depicted following which the interaction model of the geokhod and geo-environment is briefly described and thereafter the modeling features of the geokhod dynamics from the control view are listed. The computational kinematic scheme of the geokhod is composed and it is discussed how this scheme can be used for compiling the dynamic mathematical model in the different operating modes. In the final part, the weaknesses analysis of the proposed approach are presented and the directions for further researches are formulated.