Abstract

The article presents the architecture and operational principles of an unmanned ground vehicle (UGV) built on a system-engineering approach suitable for integration into civilian and military automotive platforms. The UGV system comprises two interdependent parts: a transmitting side that forms a coordinated control-command flow via an operator trainer and a human-machine interface, and a receiving side that performs secure validation, command routing, execution, and generates a backward telemetry data stream. The architecture implements a conflict-free, layered, three-level hierarchical control scheme separating mission-level command logic (upper level), autonomous functions and middleware coordination (middle level), and deterministic closed-loop real-time control (lower level). A real-time controller on the vehicle executes actuator control using cascaded subordinate regulation, where the inner control loop regulates velocity and is embedded into the outer position/tracking loop to ensure accuracy, stability, and safety of the electromechanical drives. PID-based real-time closed-loop contours are demonstrated for steering actuator, throttle valve drive, brake servo unit, and accelerator linkage, providing non-conflicting cooperative regulation of all primary motion-control effectors. The system is designed by modular principles at hardware and software levels using standard automotive/industrial buses and open-architecture interfaces, enabling scalability, role reconfiguration, fault-tolerant operation, and future autonomy upgrades. The development roadmap includes transitioning the validated architecture from the ZIL-131 prototype chassis to new-generation heavy-duty and light military trucks equipped with automatic transmission, such as KrAZ-Spartan platforms and NATO-standard vehicles, increasing deployment flexibility, autonomy depth, and reducing personnel exposure and risks in field and combat scenarios.

Keywords: UGV, remote control, modular architecture, hierarchical control, PID controller, telemetry, position loop, speed loop, real-time control, mission computer, subordinate regulation.

FULL TEXT (in Ukrainian)

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The article was submitted 26.11.2025
© Lysyi, O., Larshyn, V., Kishianus, I., Kotov, D., Yaroshevskyi, O., 2025
Creative Commons Attribution 4.0 International License (CC BY 4.0)