Special digging machines are used currently in many countries when laying underground utility systems of various types. They are designed to form holes with a complex path. Vermeer, Straight Line, Ditch Witch (USA), Tracto Technik (Germany) are the world's leading manufacturers of such machines [1]. However, initial hole entry for these

автомобильно-дорожный университет Аннотация. При формировании горизонтальных скважин методом статического прокола грунта для бестраншейной прокладки инженерных коммуникаций под препятствиями при длине пролетов более 15-20 м возникает необходимость коррекции траектории движения прокалывающего рабочего органа с традиционным конусным наконечником. В работе раскрываются технические возможности по управлению траекторией прокола с помощью прокалывающего рабочего органа с адаптированной формой наконечника и созданной телеметрической системой для определения координат положения головки в грунте. Ключевые слова: бестраншейные технологии, статический прокол грунта, инженерные коммуникации, прокалывающая головка, коррекция траектории движения.

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The object of research is the completeness of information for making a navigation decision by an autonomous mobile robot when it performs a task in an unfamiliar area without GPS. It is difficult to identify a landmark in the absence and abundance of information. One of the most problematic places is the mathematical description of the criterion according to which an autonomous robot makes a decision about the completeness of information. The paper substantiates a model and method for determining the completeness of information by a robot equipped with several landmarks detection tools operating on different physical principles. It is shown that the implementation of the method requires a priori information on the probability of detecting various landmarks by passive and active means against a continuous and discontinuous background at different illumination of objects, in day and night conditions under different weather conditions. The values of the probability of detecting a specific type of landmark obtained in such studies serve as the basis for constructing an information cadastre for a job performing tasks on the ground. Three formulas are proposed for determining the coefficient of completeness of information, taking into account a priori and a posteriori inventories, and recommended areas of application. The value of this coefficient depends on the threshold level of the probability of detecting a landmark. The reliability of a decision made by a robot is greatest when it is made under conditions of a certain level of completeness of information. The proposed method can be used for other technical objects from which the measurement information is received. Compared with the known methods, it expands the boundaries of application and reveals the possibility of assessing the completeness of information in constantly changing conditions. Along with a change in these conditions, the characteristics of the completeness of information also change. The coefficient of completeness of information can approach unity even in the absence of separate means of detecting landmarks, and then the method makes it possible to assess the need for their use in the given conditions.

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