The article is devoted to the application of a group of robotic complexes for military purposes. The current state of control systems of single robotic complexes does not allow solving all the tasks assigned to the robot. The analysis of methods of controlling a group of robots in combat conditions is carried out. The necessity of using a multi-level control system for an intelligent combat robot is justified. A multi-level control system for an intelligent robot is proposed. Such a system assumes the possibility of controlling the robot in one of four modes: remote, supervisory, autonomous and group. Moreover, each robot, depending on the external conditions and its condition, can be in any control mode. The application of the technique is shown by the example of the movement of a group of robots with an interval along the front. The problem of the movement of slave robots behind the leader is considered. When forming the robot control algorithm, the method of finite automata was used. The algorithm controls the movement of the RTK in various operating modes: group control mode and autonomous movement mode. In the group control mode, the task is implemented: movement for the leader. For the state of "Movement in formation", an algorithm for forming the trajectory of the movement of guided robots was implemented. An algorithm for approximating the Bezier curve was used. It allows you to build a trajectory for the slave robot. On the basis of the obtained trajectory, the angular and linear velocity were calculated. In the autonomous control mode, two tasks are solved: moving to a given point and avoiding obstacles. Vector Field Histogram was used as an algorithm for detouring an obstacle, which determines the direction of movement without obstacles. The state of "Movement to a given point" is based on Pure Pursuit as a simple and reliable algorithm for solving such problems. A computer model of the movement of a group of robots was developed. The model is implemented in the MATLAB program using the Simulink and Mobile Robotics Simulation Toolbox libraries. Several different variants of the movement of the RTK group are modeled, which differ from each other in the initial location of the robots and the position of obstacles. The conducted computer simulation showed the efficiency and effectiveness of the proposed method of RTC control.

The authors propose a schematic structure of the intelligent system for the real time identification of the soil parameters during the movement of the tracked vehicle. The system is compared with the methods of the driving conditions prediction based on the analysis of databases, contactless telemetry, terrain scanning, etc. The possible advantages and disadvantages of these methods are specified. The descriptions of the system blocks are given, the purpose and interrelation between the components are considered in detail. Requirements of the blocks and separate components of the system are specified. The concept of integration of the system for identification of the soil parameters during the movement of the tracked vehicle into an autonomous motion control system is presented. The authors offer a method for the soil characterisation without the use of databases. The method is based on the solution of the direct and inverse problems of terramechanics for the tracked autonomous mobile complexes. The article contains typical performance examples fordifferent types of soils used for the development of the algorithms of the system foridentification of the soil parameters. Different identity criteria are proposed for checking the conformity of the soil performance models to its real performance. The article contains the analysis of the technical problems to be solved during development of a system for identification of the soil parameters.