Tactical and Autonomous UGV Navigation

The paper is focused on the task of autonomous navigation of a ground vehicle in the general environment under the tactical conditions. This problematic consists of a wide set of operational, tactical and technical problems, generally containing the sort of multi-criteria decision tasks and in many cases converge to a battle process optimization. This article is dedicated to one of the thorniest problems of contemporary asymmetric battlefield, namely math solution of a real-time tactical maneuver and its automatic execution. The article presents the basic goals and approaches to this problem. The basic principles and algorithms of autonomous motion were implemented into an experimental robot which is used primarily for verification and demonstration purposes.